the implementation of ppf_registration.hpp may have some error

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the implementation of ppf_registration.hpp may have some error

uhfei
I'm new to Point Cloud Library and I have try the ppf_object_recognition.cpp
with my point data, it turn out  not to be satisfactory. So I walk through
the source code to find if any parameter that I can change to improve the
result. when I check the 140 line of the file ppf_registration.hpp, the code
maybe not coincide with the original article. In my opinion, the code:
unsigned int alpha_discretized = static_cast<unsigned int> (floor (alpha) +
floor (M_PI / search_method_->getAngleDiscretizationStep ()));
should be replaced with the follow code:
unsigned int alpha_discretized = static_cast<unsigned int> (floor(alpha +
M_PI) / search_method_->getAngleDiscretizationStep());
the source code can be found from the web
link:https://github.com/PointCloudLibrary/pcl/blob/46cb8fe5589e88e36d79f9b8b8e5f4ff4fceb5de/registration/include/pcl/registration/impl/ppf_registration.hpp
I'm not sure whether my point is right or not. Any help from you experts
would be greatly appreciated!!



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Re: the implementation of ppf_registration.hpp may have some error

uhfei
This question should be closed right now, since I have find few persion have
the same idea in the PCL Bug reports page:
https://github.com/PointCloudLibrary/pcl/issues/1930
good luck for everyone



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