Here is the output of Size of the pointcloud for ring(section), singular values and Linearity/Planarity results in original code:
You can clearly see that from the last ring(section), even we don't have any points in section, if there were calculations done in step before; the values of respective features will copied from the last section. Which will definetely effect the correctness of the height calculation.
Hello,
I noticed that we are letting empty sections and calculate the singular values on them which will lead to
nan
values.https://github.com/LimHyungTae/patchwork/blob/4b4f2118f706e339c1ed23b5710bc732d8c7c54d/include/patchwork/patchwork.hpp#L444-L462