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Fixes #6291 and #6236 #6305

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merged 3 commits into from
Aug 15, 2023
Merged

Fixes #6291 and #6236 #6305

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e5bb555
fix 6291
theNded Aug 11, 2023
288c62a
fix 6236
theNded Aug 11, 2023
417f98a
address review comments
theNded Aug 15, 2023
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4 changes: 2 additions & 2 deletions cpp/open3d/geometry/PointCloudSegmentation.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -80,7 +80,7 @@ RANSACResult EvaluateRANSACBasedOnDistance(
double distance = std::abs(plane_model.dot(point));

if (distance < distance_threshold) {
error += distance;
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error += distance * distance;
inliers.emplace_back(idx);
}
}
Expand All @@ -91,7 +91,7 @@ RANSACResult EvaluateRANSACBasedOnDistance(
result.inlier_rmse_ = 0;
} else {
result.fitness_ = (double)inlier_num / (double)points.size();
result.inlier_rmse_ = error / std::sqrt((double)inlier_num);
result.inlier_rmse_ = std::sqrt(error / (double)inlier_num);
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}
return result;
}
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4 changes: 3 additions & 1 deletion cpp/open3d/geometry/RGBDImageFactory.cpp
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Expand Up @@ -18,7 +18,9 @@ std::shared_ptr<RGBDImage> RGBDImage::CreateFromColorAndDepth(
bool convert_rgb_to_intensity /* = true*/) {
std::shared_ptr<RGBDImage> rgbd_image = std::make_shared<RGBDImage>();
if (color.height_ != depth.height_ || color.width_ != depth.width_) {
utility::LogError("Unsupported image format.");
utility::LogError(
"RGB image size ({} {}) and depth image size mismatch ({} {}).",
color.height_, color.width_, depth.height_, depth.width_);
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}
rgbd_image->depth_ =
*depth.ConvertDepthToFloatImage(depth_scale, depth_trunc);
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