Fix regression in pcl::SACSegmentation line fitting
#2767
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pcl::SampleConsensusModelLine<PointT>::isSampleGood should check if the two sample points differ in one coordinate, not in all of them.
taketwo
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Jan 10, 2019
All input points are on the ground plane. This test passes after PointCloudLibrary#2767 and fails before.
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Good catch, thanks. I've created a PR with a quick test for this: #2768, please consider reviewing. |
taketwo
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pcl::SACSegmentation line fitting
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After updating from PCL 1.8.1 to 1.9.1 I realized that the
pcl::SACSegmentationline fitting doesn't work anymore, if all points are in the ground plane (z=0), becausepcl::SampleConsensusModelLine<PointT>::isSampleGoodwould always return false.This problem was introduced with commit c529b5d, which fixed another bug (return true in both branches) that previously concealed this bug here.
In my opinion
pcl::SampleConsensusModelLine<PointT>::isSampleGoodshould only check if the two sample points differ in one coordinate, not in all of them.