Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Bugfix miscalculation of quantile of KLD #2574

Merged
merged 1 commit into from
Oct 23, 2018

Conversation

yukkysaito
Copy link
Contributor

Before bugfix, normalQuantile function return following this.
I think original author forgot that u is halved.

(input, output)
-20, 0
-19, 0
-18, 0
-17, 0
-16, 0
-15, 0
-14, 0
-13, 0
-12, 1944.33
-11, 243.061
-10, 20.8074
-9, 1.02105
-8, 0.0201278
-7, 6.16628e-05
-6, 1.1355e-09
-5, 2.86862e-07
-4, 3.16712e-05
-3, 0.0013499
-2, 0.0227501
-1, 0.158655
0, 0.5
1, 0.841345
2, 0.97725
3, 0.99865
4, 0.999968
5, 1
6, 1
7, 0.999938
8, 0.979872
9, -0.0210484
10, -19.8074
11, -242.061
12, -1943.33
13, 1
14, 1
15, 1
16, 1
17, 1
18, 1
19, 1
20, 1

after

(input, output)
-20, 0
-19, 0
-18, 0
-17, 0
-16, 0
-15, 0
-14, 0
-13, 0
-12, 0
-11, 0
-10, 0
-9, 0
-8, 0
-7, 0
-6, 1.1355e-09
-5, 2.86862e-07
-4, 3.16712e-05
-3, 0.0013499
-2, 0.0227501
-1, 0.158655
0, 0.5
1, 0.841345
2, 0.97725
3, 0.99865
4, 0.999968
5, 1
6, 1
7, 1
8, 1
9, 1
10, 1
11, 1
12, 1
13, 1
14, 1
15, 1
16, 1
17, 1
18, 1
19, 1
20, 1

Before bugfix, normalQuantile function return following this.
I think original author forgot that u is halved.
```
(input, output)
-20, 0
-19, 0
-18, 0
-17, 0
-16, 0
-15, 0
-14, 0
-13, 0
-12, 1944.33
-11, 243.061
-10, 20.8074
-9, 1.02105
-8, 0.0201278
-7, 6.16628e-05
-6, 1.1355e-09
-5, 2.86862e-07
-4, 3.16712e-05
-3, 0.0013499
-2, 0.0227501
-1, 0.158655
0, 0.5
1, 0.841345
2, 0.97725
3, 0.99865
4, 0.999968
5, 1
6, 1
7, 0.999938
8, 0.979872
9, -0.0210484
10, -19.8074
11, -242.061
12, -1943.33
13, 1
14, 1
15, 1
16, 1
17, 1
18, 1
19, 1
20, 1
```
after
```
(input, output)
-20, 0
-19, 0
-18, 0
-17, 0
-16, 0
-15, 0
-14, 0
-13, 0
-12, 0
-11, 0
-10, 0
-9, 0
-8, 0
-7, 0
-6, 1.1355e-09
-5, 2.86862e-07
-4, 3.16712e-05
-3, 0.0013499
-2, 0.0227501
-1, 0.158655
0, 0.5
1, 0.841345
2, 0.97725
3, 0.99865
4, 0.999968
5, 1
6, 1
7, 1
8, 1
9, 1
10, 1
11, 1
12, 1
13, 1
14, 1
15, 1
16, 1
17, 1
18, 1
19, 1
20, 1
```
Copy link
Member

@taketwo taketwo left a comment

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Looks legit, thanks!

Copy link
Member

@taketwo taketwo left a comment

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Looks legit, thanks!

@SergioRAgostinho SergioRAgostinho merged commit 521a3ac into PointCloudLibrary:master Oct 23, 2018
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Projects
None yet
Development

Successfully merging this pull request may close these issues.

3 participants