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[Fix] threthold tolerance error (#6550) #6608

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Merged
ssheorey merged 1 commit into from
Mar 19, 2024
Merged

[Fix] threthold tolerance error (#6550) #6608

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14 changes: 10 additions & 4 deletions cpp/open3d/geometry/PointCloudPlanarPatchDetection.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -27,6 +27,8 @@ namespace geometry {

namespace {

double tolerance = 1e-6;

/// \brief Planar patch container
struct PlanarPatch {
double GetSignedDistanceToPoint(const Eigen::Vector3d& point) const {
Expand Down Expand Up @@ -400,9 +402,13 @@ class PlaneDetector {
(rect.bottom_left(1) + rect.top_right(1)) / 2. * rect.B.col(1);

// Scale basis to fit points
const double width = (rect.top_right.x() - rect.bottom_left.x());
const double height = (rect.top_right.y() - rect.bottom_left.y());
const double depth = (rect.top_right.z() - rect.bottom_left.z());
const double _mini = std::min(tolerance, max_point_dist_);
const double width =
std::max(rect.top_right.x() - rect.bottom_left.x(), _mini);
const double height =
std::max(rect.top_right.y() - rect.bottom_left.y(), _mini);
const double depth =
std::max(rect.top_right.z() - rect.bottom_left.z(), _mini);

std::shared_ptr<OrientedBoundingBox> obox =
std::make_shared<OrientedBoundingBox>();
Expand Down Expand Up @@ -590,6 +596,7 @@ class PlaneDetector {
// Use lower bound of the spread around the median as an indication
// of how similar the point normals associated with the patch are.
GetMinMaxRScore(normal_similarities, min_normal_diff_, tmp, 3);
min_normal_diff_ = std::min(min_normal_diff_, 1.0 - tolerance);
// Use upper bound of the spread around the median as an indication
// of how close the points associated with the patch are to the patch.
GetMinMaxRScore(point_distances, tmp, max_point_dist_, 3);
Expand Down Expand Up @@ -937,7 +944,6 @@ void ExtractPatchesFromPlanes(
Eigen::Vector3d(0.4660, 0.6740, 0.1880),
Eigen::Vector3d(0.3010, 0.7450, 0.9330),
Eigen::Vector3d(0.6350, 0.0780, 0.1840)};

for (size_t i = 0; i < planes.size(); i++) {
if (!planes[i]->IsFalsePositive()) {
// create a patch by delimiting the plane using its perimeter points
Expand Down