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fix voxel covariance #77

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fix voxel covariance #77

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2 changes: 1 addition & 1 deletion include/pclomp/voxel_grid_covariance_omp.h
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Original file line number Diff line number Diff line change
Expand Up @@ -104,7 +104,7 @@ namespace pclomp
nr_points (0),
mean_ (Eigen::Vector3d::Zero ()),
centroid (),
cov_ (Eigen::Matrix3d::Identity ()),
cov_ (Eigen::Matrix3d::Zero ()),
icov_ (Eigen::Matrix3d::Zero ()),
evecs_ (Eigen::Matrix3d::Identity ()),
evals_ (Eigen::Vector3d::Zero ())
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2 changes: 1 addition & 1 deletion include/pclomp/voxel_grid_covariance_omp_impl.hpp
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Expand Up @@ -327,7 +327,7 @@ pclomp::VoxelGridCovariance<PointT>::applyFilter (PointCloud &output)

// Single pass covariance calculation
leaf.cov_ = (leaf.cov_ - 2 * (pt_sum * leaf.mean_.transpose ())) / leaf.nr_points + leaf.mean_ * leaf.mean_.transpose ();
leaf.cov_ *= (leaf.nr_points - 1.0) / leaf.nr_points;
leaf.cov_ *= leaf.nr_points / (leaf.nr_points - 1.0);

//Normalize Eigen Val such that max no more than 100x min.
eigensolver.compute (leaf.cov_);
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