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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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16 changes: 8 additions & 8 deletions cpp/open3d/geometry/PointCloudSegmentation.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -64,23 +64,24 @@ class RANSACResult {
};

// Calculates the number of inliers given a list of points and a plane model,
// and the total distance between the inliers and the plane. These numbers are
// then used to evaluate how well the plane model fits the given points.
// and the total squared point-to-plane distance.
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Shouldn't the total squared point-to-plane distance be root mean squared point-to-plane distance? Not a major issue though.

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LOL, 1 minute late :D .

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Let me know and I can push this change when making other documentation PRs. This anyways is not getting rendered to C++ docs, so probably needs more work to make it doxygen compatible - http://www.open3d.org/docs/release/cpp_api/namespaceopen3d_1_1geometry.html#a5013df32089b6fb7222d04535759b7d4

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PS: The comments in .cpp files are for code authors (how does it work?) and comments in header files (Doxygen compatible) are for API users (what does it do, inputs and output).

// These numbers are then used to evaluate how well the plane model fits the
// given points.
RANSACResult EvaluateRANSACBasedOnDistance(
const std::vector<Eigen::Vector3d> &points,
const Eigen::Vector4d plane_model,
std::vector<size_t> &inliers,
double distance_threshold,
double error) {
double distance_threshold) {
RANSACResult result;

double error = 0;
for (size_t idx = 0; idx < points.size(); ++idx) {
Eigen::Vector4d point(points[idx](0), points[idx](1), points[idx](2),
1);
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 +92,7 @@ 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;
}
Expand Down Expand Up @@ -202,10 +203,9 @@ std::tuple<Eigen::Vector4d, std::vector<size_t>> PointCloud::SegmentPlane(
continue;
}

double error = 0;
inliers.clear();
auto this_result = EvaluateRANSACBasedOnDistance(
points_, plane_model, inliers, distance_threshold, error);
points_, plane_model, inliers, distance_threshold);
#pragma omp critical
{
if (this_result.fitness_ > result.fitness_ ||
Expand Down
12 changes: 9 additions & 3 deletions 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);
Expand Down Expand Up @@ -55,7 +57,9 @@ std::shared_ptr<RGBDImage> RGBDImage::CreateFromSUNFormat(
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_);
}
for (int v = 0; v < depth.height_; v++) {
for (int u = 0; u < depth.width_; u++) {
Expand All @@ -75,7 +79,9 @@ std::shared_ptr<RGBDImage> RGBDImage::CreateFromNYUFormat(
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_);
}
for (int v = 0; v < depth.height_; v++) {
for (int u = 0; u < depth.width_; u++) {
Expand Down