[features] Add isNormalFinite check in ShapeContext3DEstimation#4883
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kunaltyagi merged 2 commits intoPointCloudLibrary:masterfrom Aug 10, 2021
Merged
[features] Add isNormalFinite check in ShapeContext3DEstimation#4883kunaltyagi merged 2 commits intoPointCloudLibrary:masterfrom
isNormalFinite check in ShapeContext3DEstimation#4883kunaltyagi merged 2 commits intoPointCloudLibrary:masterfrom
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If any normal component is e.g. nan, the assertion later in the code would trigger. As a minor side-edit, the rf parameter is an output (it is not read from, but written to).
larshg
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Aug 8, 2021
kunaltyagi
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Aug 9, 2021
kunaltyagi
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isNormalFinite check in ShapeContext3DEstimation
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Should we emit a warning about the normals containing NaN? |
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I'm not sure if a warning is appropriate or if it is too intrusive. I think it is not too uncommon that estimated normals contain NaNs, especially in sparse regions. |
larshg
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Aug 9, 2021
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If any normal component is e.g. nan, the assertion later in the code would trigger.
As a minor side-edit, the rf parameter is an output (it is not read from, but written to).
Fixes #4497 . Contrary to what I commented in the issue, the assert would not trigger if the normal was
(0, 0, 0)because the left part,x_axis[0]*normal[0] + x_axis[1]*normal[1] + x_axis[2]*normal[2]would also be zero, which would make the assert pass.