ppf: remove redundant codes

PointCloudLibrary · Feb 4, 2025 · e716872 · e716872
1 parent 460d9fc
commit e716872
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Showing 2 changed files with 5 additions and 10 deletions.
diff --git a/features/include/pcl/features/impl/ppf.hpp b/features/include/pcl/features/impl/ppf.hpp
@@ -94,10 +94,8 @@ pcl::PPFEstimation<PointInT, PointNT, PointOutT>::computeFeature (PointCloudOut
           Eigen::Affine3f transform_mg (Eigen::Translation3f ( rotation_mg * ((-1) * model_reference_point)) * rotation_mg);
 
           Eigen::Vector3f model_point_transformed = transform_mg * model_point;
-          float angle = std::atan2 ( -model_point_transformed(2), model_point_transformed(1));
-          if (std::sin (angle) * model_point_transformed(2) < 0.0f)
-            angle *= (-1);
-          p.alpha_m = -angle;
+          float angle = std::atan2 (model_point_transformed(2), model_point_transformed(1));
+          p.alpha_m = angle;
         }
         else
         {

diff --git a/registration/include/pcl/registration/impl/ppf_registration.hpp b/registration/include/pcl/registration/impl/ppf_registration.hpp
@@ -151,19 +151,16 @@ pcl::PPFRegistration<PointSource, PointTarget>::computeTransformation(
 
           const Eigen::Vector3f scene_point_transformed = transform_sg * scene_point;
           float alpha_s =
-              std::atan2(-scene_point_transformed(2), scene_point_transformed(1));
-          if (std::sin(alpha_s) * scene_point_transformed(2) < 0.0f)
-            alpha_s *= (-1);
-          alpha_s *= (-1);
+              std::atan2(scene_point_transformed(2), scene_point_transformed(1));
 
           // Go through point pairs in the model with the same discretized feature
           for (const auto& nearest_index : nearest_indices) {
             std::size_t model_reference_index = nearest_index.first;
             std::size_t model_point_index = nearest_index.second;
             // Calculate angle alpha = alpha_m - alpha_s
             float alpha =
-                search_method_->alpha_m_[model_reference_index][model_point_index] -
-                alpha_s;
+                alpha_s -
+                search_method_->alpha_m_[model_reference_index][model_point_index];
             if (alpha < -M_PI) {
               alpha += (2 * M_PI);
             }