Merge pull request #5653 from mvieth/octree_growing

Octree: grow in positive direction instead of negative

Author: mvieth

octree/include/pcl/octree/impl/octree_pointcloud.hpp

@@ -523,9 +523,9 @@ pcl::octree::OctreePointCloud<PointT, LeafContainerT, BranchContainerT, OctreeT>
 
         // octree not empty - we add another tree level and thus increase its size by a
         // factor of 2*2*2
-        child_idx = static_cast<unsigned char>(((!bUpperBoundViolationX) << 2) |
-                                               ((!bUpperBoundViolationY) << 1) |
-                                               ((!bUpperBoundViolationZ)));
+        child_idx = static_cast<unsigned char>(((bLowerBoundViolationX) << 2) |
+                                               ((bLowerBoundViolationY) << 1) |
+                                               ((bLowerBoundViolationZ)));
 
         BranchNode* newRootBranch;
 
@@ -538,13 +538,13 @@ pcl::octree::OctreePointCloud<PointT, LeafContainerT, BranchContainerT, OctreeT>
 
         octreeSideLen = static_cast<double>(1 << this->octree_depth_) * resolution_;
 
-        if (!bUpperBoundViolationX)
+        if (bLowerBoundViolationX)
           min_x_ -= octreeSideLen;
 
-        if (!bUpperBoundViolationY)
+        if (bLowerBoundViolationY)
           min_y_ -= octreeSideLen;
 
-        if (!bUpperBoundViolationZ)
+        if (bLowerBoundViolationZ)
           min_z_ -= octreeSideLen;
 
         // configure tree depth of octree

test/features/test_pfh_estimation.cpp

@@ -504,7 +504,7 @@ TEST (PCL, GFPFH)
   PointCloud<GFPFHSignature16> descriptor;
   gfpfh.compute (descriptor);
 
-  const float ref_values[] = { 1877, 6375, 5361, 14393, 6674, 2471, 2248, 2753, 3117, 4585, 14388, 32407, 15122, 3061, 3202, 794 };
+  const float ref_values[] = { 1881, 6378, 5343, 14406, 6726, 2379, 2295, 2724, 3177, 4518, 14283, 32341, 15131, 3195, 3238, 813 };
 
   EXPECT_EQ (descriptor.size (), 1);
   for (std::size_t i = 0; i < static_cast<std::size_t>(descriptor[0].descriptorSize ()); ++i)