Modify FlannSearch to return Indices of Point Cloud (issue #5774)#5780
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mvieth merged 4 commits intoPointCloudLibrary:masterfrom Aug 13, 2023
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FlannSearch was returning, in the radiusSearch and NearestKSearch, the Indices of the Indices passed, which is inconsistent with the other search clases.
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Looks good so far. Would you also be willing to extend |
mvieth
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module: search
changelog: fix
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Yes, I can extend |
Correct bug when k > input_ size
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When I extend the tests, the flannsearch fails in the radiusSearch when k is bigger than the total points in the index. This is because flannsearch pads the indices returned. So, for example, if the index has 117 points available, and k = 512, the other search methods will return an indice sized 117, but flannsearch returns the indices with size 512. To solve this, I followed the same reasoning as in the KDTree |
mvieth
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Aug 10, 2023
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FlannSearch was returning, in the radiusSearch and nearestKSearch, the Indices of the Indices passed, which is inconsistent with the other search classes. This solves issue #5774.
I'm just opening the PR to start the discussion on this change. I'm still trying to understand and run the tests. As said, though, the change itself is not that complicated, it was two lines of code, unless there is something I am not seeing.