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Prevent addition of duplicate keys in PFHEstimation buffer #1701

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Aug 28, 2016
Merged

Prevent addition of duplicate keys in PFHEstimation buffer #1701

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9 changes: 8 additions & 1 deletion features/include/pcl/features/impl/pfh.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -68,6 +68,8 @@ pcl::PFHEstimation<PointInT, PointNT, PointOutT>::computePointPFHSignature (
float hist_incr = 100.0f / static_cast<float> (indices.size () * (indices.size () - 1) / 2);

std::pair<int, int> key;
bool key_found = false;

// Iterate over all the points in the neighborhood
for (size_t i_idx = 0; i_idx < indices.size (); ++i_idx)
{
Expand Down Expand Up @@ -96,13 +98,18 @@ pcl::PFHEstimation<PointInT, PointNT, PointOutT>::computePointPFHSignature (
// Check to see if we already estimated this pair in the global hashmap
std::map<std::pair<int, int>, Eigen::Vector4f, std::less<std::pair<int, int> >, Eigen::aligned_allocator<std::pair<const std::pair<int, int>, Eigen::Vector4f> > >::iterator fm_it = feature_map_.find (key);
if (fm_it != feature_map_.end ())
{
pfh_tuple_ = fm_it->second;
key_found = true;
}
else
{
// Compute the pair NNi to NNj
if (!computePairFeatures (cloud, normals, indices[i_idx], indices[j_idx],
pfh_tuple_[0], pfh_tuple_[1], pfh_tuple_[2], pfh_tuple_[3]))
continue;

key_found = false;
}
}
else
Expand Down Expand Up @@ -133,7 +140,7 @@ pcl::PFHEstimation<PointInT, PointNT, PointOutT>::computePointPFHSignature (
}
pfh_histogram[h_index] += hist_incr;

if (use_cache_)
if (use_cache_ && !key_found)
{
// Save the value in the hashmap
feature_map_[key] = pfh_tuple_;
Expand Down