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Fix the surface normals datapoints filter covariance matrix bug #465

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Jun 22, 2021
Merged

Fix the surface normals datapoints filter covariance matrix bug #465

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2 changes: 1 addition & 1 deletion pointmatcher/DataPointsFilters/SamplingSurfaceNormal.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -245,7 +245,7 @@ void SamplingSurfaceNormalDataPointsFilter<T>::fuseRange(
const Matrix NN = (d.colwise() - mean);

// compute covariance
const Matrix C(NN * NN.transpose());
const Matrix C((NN * NN.transpose()) / T(colCount));
Vector eigenVa = Vector::Identity(featDim-1, 1);
Matrix eigenVe = Matrix::Identity(featDim-1, featDim-1);
// Ensure that the matrix is suited for eigenvalues calculation
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2 changes: 1 addition & 1 deletion pointmatcher/DataPointsFilters/SurfaceNormal.cpp
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Expand Up @@ -184,7 +184,7 @@ void SurfaceNormalDataPointsFilter<T>::inPlaceFilter(
const Vector mean = d.rowwise().sum() / T(realKnn);
const Matrix NN = d.colwise() - mean;

const Matrix C(NN * NN.transpose());
const Matrix C((NN * NN.transpose()) / T(realKnn));
Vector eigenVa = Vector::Zero(featDim-1, 1);
Matrix eigenVe = Matrix::Zero(featDim-1, featDim-1);
// Ensure that the matrix is suited for eigenvalues calculation
Expand Down