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GP3 runtime improvements#6374

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larshg wants to merge 6 commits intoPointCloudLibrary:masterfrom
larshg:gp3Improvements
Open

GP3 runtime improvements#6374
larshg wants to merge 6 commits intoPointCloudLibrary:masterfrom
larshg:gp3Improvements

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@larshg
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@larshg larshg commented Nov 27, 2025

Before changes:
image

After changes:
image

Helps on #6370

@abstig can you test it?

@larshg larshg added this to the pcl-1.16.0 milestone Nov 27, 2025
@larshg larshg added changelog: enhancement Meta-information for changelog generation module: surface labels Nov 27, 2025
}

// Sorting angles
std::sort (angles_.begin (), angles_.end (), GreedyProjectionTriangulation<PointInT>::nnAngleSortAsc);
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Previously, this also sorted the invisible angles (so the angle list first had all visible angles in ascending order, then all invisible angles in ascending order). In your proposal, the invisible angles are not sorted. I do not know if that is relevant?

Comment on lines +174 to 176
if (state_[R_] != FREE)
continue;
{
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Suggested change
if (state_[R_] != FREE)
continue;
{
if (state_[R_] != FREE) {
continue;
} else {

This looks a bit strange, as if the curly opening brace also belongs to the if-statement. I think putting an else in there would make it clearer.

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