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[features] Stabilize ShapeContext3D azimuth orientation #6398

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Merged
mvieth merged 9 commits into from
May 30, 2026
+48 −60
Merged

[features] Stabilize ShapeContext3D azimuth orientation #6398

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b32cb1b
Fix: use deterministic x_axis for ShapeContext3D azimuth orientation
Apr 23, 2026
f0900e3
temp: print new 3DSC descriptor values for CI
Apr 28, 2026
b53e1e8
Fix: keep RF intact so deterministic x_axis is used for azimuth binning
Apr 28, 2026
65dcc17
Fix: use max_element to correctly find most distant neighbor for dete…
Apr 29, 2026
233f209
ci: retrigger to capture new 3DSC descriptor values
zatchbell1311-wq May 19, 2026
59d77c4
fix: update 3DSC test expectations for deterministic azimuth orientation
zatchbell1311-wq May 20, 2026
4d65387
temp: print rf values and non-zero sc3ds[108] entries
zatchbell1311-wq May 21, 2026
816b23e
fix: finalize 3DSC test expectations with deterministic RF and descri…
zatchbell1311-wq May 28, 2026
c7c55ca
fix: use more precise descriptor value per mvieth suggestion
zatchbell1311-wq May 28, 2026
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34 changes: 19 additions & 15 deletions features/include/pcl/features/impl/3dsc.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -164,17 +164,20 @@ pcl::ShapeContext3DEstimation<PointInT, PointNT, PointOutT>::computePoint (
}
normal = normals[minIndex].getNormalVector3fMap ();

// Compute and store the RF direction
x_axis[0] = rnd ();
x_axis[1] = rnd ();
x_axis[2] = rnd ();
if (!pcl::utils::equal (normal[2], 0.0f))
x_axis[2] = - (normal[0]*x_axis[0] + normal[1]*x_axis[1]) / normal[2];
else if (!pcl::utils::equal (normal[1], 0.0f))
x_axis[1] = - (normal[0]*x_axis[0] + normal[2]*x_axis[2]) / normal[1];
else if (!pcl::utils::equal (normal[0], 0.0f))
x_axis[0] = - (normal[1]*x_axis[1] + normal[2]*x_axis[2]) / normal[0];

// Compute a deterministic x_axis by projecting the direction to the most
// distant neighbor onto the tangent plane. This replaces the previous
// random axis selection and makes the descriptor stable across runs.
const auto maxDistIt = std::max_element (nn_dists.begin (), nn_dists.end ());
const auto maxIndex = nn_indices[std::distance (nn_dists.begin (), maxDistIt)];
x_axis = (*surface_)[maxIndex].getVector3fMap () - origin;
x_axis -= x_axis.dot (normal) * normal;
if (x_axis.norm () < 1e-6f)
{
// Fallback: use a fixed global axis projected onto the tangent plane
x_axis = Eigen::Vector3f::UnitX () - Eigen::Vector3f::UnitX ().dot (normal) * normal;
if (x_axis.norm () < 1e-6f)
x_axis = Eigen::Vector3f::UnitY () - Eigen::Vector3f::UnitY ().dot (normal) * normal;
}
x_axis.normalize ();

// Check if the computed x axis is orthogonal to the normal
Expand All @@ -187,7 +190,7 @@ pcl::ShapeContext3DEstimation<PointInT, PointNT, PointOutT>::computePoint (
for (std::size_t ne = 0; ne < neighb_cnt; ne++)
{
if (pcl::utils::equal (nn_dists[ne], 0.0f))
continue;
continue;
// Get neighbours coordinates
Eigen::Vector3f neighbour = (*surface_)[nn_indices[ne]].getVector3fMap ();

Expand Down Expand Up @@ -245,8 +248,9 @@ pcl::ShapeContext3DEstimation<PointInT, PointNT, PointOutT>::computePoint (
assert (desc[(l*elevation_bins_*radius_bins_) + (k*radius_bins_) + j] >= 0);
} // end for each neighbour

// 3DSC does not define a repeatable local RF, we set it to zero to signal it to the user
std::fill_n (rf, 9, 0);
// Note: unlike the original 3DSC, we keep the RF intact here because
// we now compute a deterministic x_axis. The original code zeroed the RF
// to signal non-repeatability, but that also destroyed azimuth binning.
return (true);
}

Expand All @@ -258,7 +262,7 @@ pcl::ShapeContext3DEstimation<PointInT, PointNT, PointOutT>::computeFeature (Poi

output.is_dense = true;
// Iterate over all points and compute the descriptors
for (std::size_t point_index = 0; point_index < indices_->size (); point_index++)
for (std::size_t point_index = 0; point_index < indices_->size (); point_index++)
{
//output[point_index].descriptor.resize (descriptor_length_);

Expand Down
74 changes: 29 additions & 45 deletions test/features/test_shot_estimation.cpp
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Expand Up @@ -461,9 +461,6 @@ TYPED_TEST (SHOTShapeTest, Estimation)
for (std::size_t i = 0; i < cloud.size (); i+=3)
test_indices->push_back (static_cast<int> (i));

//testSHOTIndicesAndSearchSurface<SHOTEstimation<PointXYZ, Normal, SHOT>, PointXYZ, Normal, SHOT> (cloud.makeShared (), normals, test_indices);
//testSHOTLocalReferenceFrame<SHOTEstimation<PointXYZ, Normal, SHOT>, PointXYZ, Normal, SHOT> (cloud.makeShared (), normals, test_indices);

testSHOTIndicesAndSearchSurface<TypeParam, PointXYZ, Normal, SHOT352> (cloud.makeShared (), normals, test_indices);
testSHOTLocalReferenceFrame<TypeParam, PointXYZ, Normal, SHOT352> (cloud.makeShared (), normals, test_indices);
}
Expand Down Expand Up @@ -670,9 +667,6 @@ TYPED_TEST (SHOTShapeAndColorTest, Estimation)
for (std::size_t i = 0; i < cloud.size (); i+=3)
test_indices->push_back (static_cast<int> (i));

//testSHOTIndicesAndSearchSurface<SHOTEstimation<PointXYZRGBA, Normal, SHOT>, PointXYZRGBA, Normal, SHOT> (cloudWithColors.makeShared (), normals, test_indices);
//testSHOTLocalReferenceFrame<SHOTEstimation<PointXYZRGBA, Normal, SHOT>, PointXYZRGBA, Normal, SHOT> (cloudWithColors.makeShared (), normals, test_indices);

testSHOTIndicesAndSearchSurface<TypeParam, PointXYZRGBA, Normal, SHOT1344> (cloudWithColors.makeShared (), normals, test_indices);
testSHOTLocalReferenceFrame<TypeParam, PointXYZRGBA, Normal, SHOT1344> (cloudWithColors.makeShared (), normals, test_indices);
}
Expand All @@ -681,9 +675,6 @@ TYPED_TEST (SHOTShapeAndColorTest, Estimation)
TEST (PCL,3DSCEstimation)
{
float meshRes = 0.002f;
//size_t nBinsL = 4;
//size_t nBinsK = 4;
//size_t nBinsJ = 4;
float radius = 20.0f * meshRes;
float rmin = radius / 10.0f;
float ptDensityRad = radius / 5.0f;
Expand All @@ -705,9 +696,6 @@ TEST (PCL,3DSCEstimation)
sc3d.setInputNormals (normals);
sc3d.setSearchMethod (tree);
sc3d.setRadiusSearch (radius);
//sc3d.setAzimuthBins (nBinsL);
//sc3d.setElevationBins (nBinsK);
//sc3d.setRadiusBins (nBinsJ);
sc3d.setMinimalRadius (rmin);
sc3d.setPointDensityRadius (ptDensityRad);
// Compute the features
Expand All @@ -716,39 +704,37 @@ TEST (PCL,3DSCEstimation)
EXPECT_EQ (sc3ds->size (), cloud.size ());

// 3DSC does not define a repeatable local RF, we set it to zero to signal it to the user
//EXPECT_NEAR ((*sc3ds)[0].rf[0], 0.2902f, 1e-4f);
//EXPECT_NEAR ((*sc3ds)[0].rf[1], 0.7334f, 1e-4f);
//EXPECT_NEAR ((*sc3ds)[0].rf[2], -0.6146f, 1e-4f);
//EXPECT_NEAR ((*sc3ds)[0].rf[3], 0.9486f, 1e-4f);
//EXPECT_NEAR ((*sc3ds)[0].rf[4], -0.3051f, 1e-4f);
//EXPECT_NEAR ((*sc3ds)[0].rf[5], 0.0838f, 1e-4f);
//EXPECT_NEAR ((*sc3ds)[0].rf[6], -0.1261f, 1e-4f);
//EXPECT_NEAR ((*sc3ds)[0].rf[7], -0.6074f, 1e-4f);
//EXPECT_NEAR ((*sc3ds)[0].rf[8], -0.7843f, 1e-4f);

EXPECT_FLOAT_EQ ((*sc3ds)[0].rf[0], 0.0f);
EXPECT_FLOAT_EQ ((*sc3ds)[0].rf[1], 0.0f);
EXPECT_FLOAT_EQ ((*sc3ds)[0].rf[2], 0.0f);
EXPECT_FLOAT_EQ ((*sc3ds)[0].rf[3], 0.0f);
EXPECT_FLOAT_EQ ((*sc3ds)[0].rf[4], 0.0f);
EXPECT_FLOAT_EQ ((*sc3ds)[0].rf[5], 0.0f);
EXPECT_FLOAT_EQ ((*sc3ds)[0].rf[6], 0.0f);
EXPECT_FLOAT_EQ ((*sc3ds)[0].rf[7], 0.0f);
EXPECT_FLOAT_EQ ((*sc3ds)[0].rf[8], 0.0f);

//EXPECT_EQ ((*sc3ds)[0].descriptor.size (), 64);

EXPECT_FLOAT_EQ ((*sc3ds)[94].descriptor[88], 55.271168f);
EXPECT_FLOAT_EQ ((*sc3ds)[94].descriptor[584], 71.108765f);
EXPECT_FLOAT_EQ ((*sc3ds)[94].descriptor[1106], 79.5896f);
EXPECT_NEAR ((*sc3ds)[0].rf[0], -0.932515f, 1e-4f);
EXPECT_NEAR ((*sc3ds)[0].rf[1], 0.342274f, 1e-4f);
EXPECT_NEAR ((*sc3ds)[0].rf[2], -0.115173f, 1e-4f);
EXPECT_NEAR ((*sc3ds)[0].rf[3], 0.33841f, 1e-4f);
EXPECT_NEAR ((*sc3ds)[0].rf[4], 0.716871f, 1e-4f);
EXPECT_NEAR ((*sc3ds)[0].rf[5], -0.60957f, 1e-4f);
EXPECT_NEAR ((*sc3ds)[0].rf[6], -0.126076f, 1e-4f);
EXPECT_NEAR ((*sc3ds)[0].rf[7], -0.607408f, 1e-4f);
EXPECT_NEAR ((*sc3ds)[0].rf[8], -0.784321f, 1e-4f);
EXPECT_NEAR ((*sc3ds)[108].descriptor[54], 54.0953f, 1e-4f);
EXPECT_NEAR ((*sc3ds)[108].descriptor[71], 76.176f, 1e-4f);
EXPECT_NEAR ((*sc3ds)[108].descriptor[87], 64.4415f, 1e-4f);
EXPECT_NEAR ((*sc3ds)[108].descriptor[88], 110.54235f, 1e-4f);
EXPECT_NEAR ((*sc3ds)[108].descriptor[89], 55.3068f, 1e-4f);
EXPECT_NEAR ((*sc3ds)[108].descriptor[218], 126.141f, 1e-4f);
EXPECT_NEAR ((*sc3ds)[108].descriptor[235], 88.8147f, 1e-4f);
EXPECT_NEAR ((*sc3ds)[108].descriptor[237], 43.5572f, 1e-4f);
EXPECT_NEAR ((*sc3ds)[108].descriptor[238], 56.0383f, 1e-4f);
EXPECT_NEAR ((*sc3ds)[108].descriptor[253], 36.8475f, 1e-4f);

EXPECT_FLOAT_EQ ((*sc3ds)[94].descriptor[88], 27.635588f);
EXPECT_FLOAT_EQ ((*sc3ds)[94].descriptor[584], 47.405849f);
EXPECT_FLOAT_EQ ((*sc3ds)[94].descriptor[1106], 39.794807f);
EXPECT_FLOAT_EQ ((*sc3ds)[94].descriptor[1560], 0.f);
EXPECT_FLOAT_EQ ((*sc3ds)[94].descriptor[1929], 36.063553f);

EXPECT_FLOAT_EQ ((*sc3ds)[108].descriptor[67], 0.f);
EXPECT_FLOAT_EQ ((*sc3ds)[108].descriptor[548], 126.14106f);
EXPECT_FLOAT_EQ ((*sc3ds)[108].descriptor[1091], 30.470392f);
EXPECT_FLOAT_EQ ((*sc3ds)[108].descriptor[1421], 38.08799f);
EXPECT_FLOAT_EQ ((*sc3ds)[108].descriptor[1900], 43.799442f);
EXPECT_FLOAT_EQ ((*sc3ds)[108].descriptor[67], 0.f);
EXPECT_FLOAT_EQ ((*sc3ds)[108].descriptor[548], 0.f);
EXPECT_FLOAT_EQ ((*sc3ds)[108].descriptor[1091], 0.f);
EXPECT_FLOAT_EQ ((*sc3ds)[108].descriptor[1421], 0.f);
EXPECT_FLOAT_EQ ((*sc3ds)[108].descriptor[1900], 0.f);

// Test results when setIndices and/or setSearchSurface are used
pcl::IndicesPtr test_indices (new pcl::Indices (0));
Expand Down Expand Up @@ -789,8 +775,6 @@ TEST (PCL, USCEstimation)
EXPECT_NEAR ((*uscds)[160].rf[7], 0.105428f, 1e-4f);
EXPECT_NEAR ((*uscds)[160].rf[8], -0.972049f, 1e-4f);

//EXPECT_EQ ((*uscds)[0].descriptor.size (), 64);

EXPECT_NEAR ((*uscds)[160].descriptor[355], 123.0733f, 1e-4f);
EXPECT_NEAR ((*uscds)[160].descriptor[494], 154.9401f, 1e-4f);
EXPECT_NEAR ((*uscds)[160].descriptor[897], 0.f, 1e-4f);
Expand Down Expand Up @@ -839,4 +823,4 @@ main (int argc, char** argv)
testing::InitGoogleTest (&argc, argv);
return (RUN_ALL_TESTS ());
}
/* ]--- */
/* ]--- */
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