[patch] patch that fixes pcl::SampleConsensusModelLine

sac_segmentation.patch (text/plain), 1.32 KB, created by Victor Mataré on 2019-10-25 23:21:17 UTC

From 36c2bd6209f87dc7c6f56e2c0314e19f9cab95ec Mon Sep 17 00:00:00 2001
From: Thorsten Harter <[e-mail]>
Date: Thu, 10 Jan 2019 15:54:52 +0100
Subject: [PATCH] Fix regression in pcl::SACSegmentation line fitting

pcl::SampleConsensusModelLine<PointT>::isSampleGood should check if the two sample points differ in one coordinate, not in all of them.
---
 .../include/pcl/sample_consensus/impl/sac_model_line.hpp   | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/sample_consensus/include/pcl/sample_consensus/impl/sac_model_line.hpp b/sample_consensus/include/pcl/sample_consensus/impl/sac_model_line.hpp
index 7c7fd7512a..9a8505d93c 100644
--- a/sample_consensus/include/pcl/sample_consensus/impl/sac_model_line.hpp
+++ b/sample_consensus/include/pcl/sample_consensus/impl/sac_model_line.hpp
@@ -49,13 +49,16 @@
 template <typename PointT> bool
 pcl::SampleConsensusModelLine<PointT>::isSampleGood (const std::vector<int> &samples) const
 {
+  // Make sure that the two sample points are not identical
   if (
       (input_->points[samples[0]].x != input_->points[samples[1]].x)
-    &&
+    ||
       (input_->points[samples[0]].y != input_->points[samples[1]].y)
-    &&
+    ||
       (input_->points[samples[0]].z != input_->points[samples[1]].z))
+  {
     return (true);
+  }
 
   return (false);
 }