ppf: remove redundant codes #6230
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| angle *= (-1); | ||
| p.alpha_m = -angle; | ||
| float angle = std::atan2 (model_point_transformed(2), model_point_transformed(1)); | ||
| p.alpha_m = angle; |
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Did you forget a minus sign here?
And I am still not sure about +pi becoming -pi. Even if they represent the same angle, couldn't this cause a problem in the discretization in PPFRegistration?
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@YeHuanjie Hi, I just wanted to ask whether you are still working on this pull request? If not, that would be totally fine, but then I would close this pull request and the related issue soon (because it is not a bug or error in the code). |
I am closing this for now because it is inactive and the checks are failing, but feel free to come back to this pull request in the future if you want to continue working on it. |
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remove unnecessary (-1) and modify alpha calculation according to 《A Method for 6D Pose Estimation of Free-Form Rigid Objects Using Point Pair Features on Range Data》