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Merged
jspricke merged 1 commit into from
Sep 23, 2016
Merged

Convex and concave surfaces wrong principal component analysis #1567

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7 changes: 4 additions & 3 deletions surface/include/pcl/surface/impl/concave_hull.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -129,9 +129,10 @@ pcl::ConcaveHull<PointInT>::reconstruct (PointCloud &output, std::vector<pcl::Ve
template <typename PointInT> void
pcl::ConcaveHull<PointInT>::performReconstruction (PointCloud &alpha_shape, std::vector<pcl::Vertices> &polygons)
{
EIGEN_ALIGN16 Eigen::Matrix3d covariance_matrix;
Eigen::Vector4d xyz_centroid;
computeMeanAndCovarianceMatrix (*input_, *indices_, covariance_matrix, xyz_centroid);
compute3DCentroid (*input_, *indices_, xyz_centroid);
EIGEN_ALIGN16 Eigen::Matrix3d covariance_matrix;
computeCovarianceMatrixNormalized (*input_, *indices_, xyz_centroid, covariance_matrix);

// Check if the covariance matrix is finite or not.
for (int i = 0; i < 3; ++i)
Expand All @@ -150,7 +151,7 @@ pcl::ConcaveHull<PointInT>::performReconstruction (PointCloud &alpha_shape, std:
if (dim_ == 0)
{
PCL_DEBUG ("[pcl::%s] WARNING: Input dimension not specified. Automatically determining input dimension.\n", getClassName ().c_str ());
if (eigen_values[0] / eigen_values[2] < 1.0e-3)
if (std::abs (eigen_values[0]) < std::numeric_limits<double>::epsilon () || std::abs (eigen_values[0] / eigen_values[2]) < 1.0e-3)
dim_ = 2;
else
dim_ = 3;
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11 changes: 7 additions & 4 deletions surface/include/pcl/surface/impl/convex_hull.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -57,14 +57,15 @@ template <typename PointInT> void
pcl::ConvexHull<PointInT>::calculateInputDimension ()
{
PCL_DEBUG ("[pcl::%s::calculateInputDimension] WARNING: Input dimension not specified. Automatically determining input dimension.\n", getClassName ().c_str ());
EIGEN_ALIGN16 Eigen::Matrix3d covariance_matrix;
Eigen::Vector4d xyz_centroid;
computeMeanAndCovarianceMatrix (*input_, *indices_, covariance_matrix, xyz_centroid);
compute3DCentroid (*input_, *indices_, xyz_centroid);
EIGEN_ALIGN16 Eigen::Matrix3d covariance_matrix;
computeCovarianceMatrixNormalized (*input_, *indices_, xyz_centroid, covariance_matrix);

EIGEN_ALIGN16 Eigen::Vector3d eigen_values;
pcl::eigen33 (covariance_matrix, eigen_values);

if (eigen_values[0] / eigen_values[2] < 1.0e-3)
if (std::abs (eigen_values[0]) < std::numeric_limits<double>::epsilon () || std::abs (eigen_values[0] / eigen_values[2]) < 1.0e-3)
dimension_ = 2;
else
dimension_ = 3;
Expand Down Expand Up @@ -101,7 +102,9 @@ pcl::ConvexHull<PointInT>::performReconstruction2D (PointCloud &hull, std::vecto

Eigen::Vector4d normal_calc_centroid;
Eigen::Matrix3d normal_calc_covariance;
pcl::computeMeanAndCovarianceMatrix (normal_calc_cloud, normal_calc_covariance, normal_calc_centroid);
pcl::compute3DCentroid (normal_calc_cloud, normal_calc_centroid);
pcl::computeCovarianceMatrixNormalized (normal_calc_cloud, normal_calc_centroid, normal_calc_covariance);

// Need to set -1 here. See eigen33 for explanations.
Eigen::Vector3d::Scalar eigen_value;
Eigen::Vector3d plane_params;
Expand Down