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[sample_consensus] Circle3D: Changed segmentation collinear check precision from float to double. #6175

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Nov 22, 2024
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[sample_consensus] Circle3D: Changed segmentation collinear check precision from float to double. #6175

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d3ea2af
Changed segmentation collinear check precision from float to double.
ralphieraccoon Nov 20, 2024
3181dd2
Reverted change for cone, ellipse3d, plane and torus.
ralphieraccoon Nov 21, 2024
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4 changes: 2 additions & 2 deletions sample_consensus/include/pcl/sample_consensus/impl/sac_model_circle3d.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -65,7 +65,7 @@ pcl::SampleConsensusModelCircle3D<PointT>::isSampleGood (
// Check if the squared norm of the cross-product is non-zero, otherwise
// common_helper_vec, which plays an important role in computeModelCoefficients,
// would likely be ill-formed.
if ((p1 - p0).cross(p1 - p2).squaredNorm() < Eigen::NumTraits<float>::dummy_precision ())
if ((p1 - p0).cross(p1 - p2).squaredNorm() < Eigen::NumTraits<double>::dummy_precision ())
{
PCL_ERROR ("[pcl::SampleConsensusModelCircle3D::isSampleGood] Sample points too similar or collinear!\n");
return (false);
Expand Down Expand Up @@ -102,7 +102,7 @@ pcl::SampleConsensusModelCircle3D<PointT>::computeModelCoefficients (const Indic

// The same check is implemented in isSampleGood, so be sure to look there too
// if you find the need to change something here.
if (common_helper_vec.squaredNorm() < Eigen::NumTraits<float>::dummy_precision ())
if (common_helper_vec.squaredNorm() < Eigen::NumTraits<double>::dummy_precision ())
{
PCL_ERROR ("[pcl::SampleConsensusModelCircle3D::computeModelCoefficients] Sample points too similar or collinear!\n");
return (false);
Expand Down