Unreliable Points Critiera - any explaination?

[MontyTHall]

It's not terribly clear what's happning. Anybody explain the "unreliable points" criteria?

Thanks, M

void ScanRegistration::setScanBuffersFor(const size_t& startIdx,
                                         const size_t& endIdx)
{
  // resize buffers
  size_t scanSize = endIdx - startIdx + 1;
  _scanNeighborPicked.assign(scanSize, 0);

  // mark unreliable points as picked
  for (size_t i = startIdx + _config.curvatureRegion; i < endIdx - _config.curvatureRegion; i++) {
    const pcl::PointXYZI& previousPoint = (_laserCloud[i - 1]);
    const pcl::PointXYZI& point = (_laserCloud[i]);
    const pcl::PointXYZI& nextPoint = (_laserCloud[i + 1]);

    float diffNext = calcSquaredDiff(nextPoint, point);

    if (diffNext > 0.1) {
      float depth1 = calcPointDistance(point);
      float depth2 = calcPointDistance(nextPoint);

      if (depth1 > depth2) {
        float weighted_distance = std::sqrt(calcSquaredDiff(nextPoint, point, depth2 / depth1)) / depth2;

        if (weighted_distance < 0.1) {
          std::fill_n(&_scanNeighborPicked[i - startIdx - _config.curvatureRegion], _config.curvatureRegion + 1, 1);

          continue;
        }
      } else {
        float weighted_distance = std::sqrt(calcSquaredDiff(point, nextPoint, depth1 / depth2)) / depth1;

        if (weighted_distance < 0.1) {
          std::fill_n(&_scanNeighborPicked[i - startIdx + 1], _config.curvatureRegion + 1, 1);
        }
      }
    }

    float diffPrevious = calcSquaredDiff(point, previousPoint);
    float dis = calcSquaredPointDistance(point);

    if (diffNext > 0.0002 * dis && diffPrevious > 0.0002 * dis) {
      _scanNeighborPicked[i - startIdx] = 1;
    }
  }
}

[MontyTHall]

Got it

[kavyaa890]

Need answer to this issue.