fabiopoiesi / dip

Hi, I am really appreciated with your works!

I am just wondering how you dealt with the situation where no points or fewer than 3 points are inside the LRF kernel in lpf.py:

Line 21 in 6b72d5c

_, patch_idx, _ = self.pcd_tree.search_radius_vector_3d(pt, self.patch_kernel)

This results in complex numbers in xp, yp, zp.

Line 45 in 6b72d5c

    
           xp = 1 / np.linalg.norm(np.dot(v, (alpha * beta)[:, np.newaxis])) * np.dot(v, (alpha * beta)[:, np.newaxis])

How did you resolve this problem?

As a solution, putting in zero xyz values to the patch would be a problem. Any ideas?

Thank you very much!

This is actually a problem, you could either discard this patch or repeat these three points by adding some little Gaussian noise.

Problem of no points inside the kernel size