Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
... by improving the check whether an octree node might contain a point within radius. Previously this was done by a sphere around the node center (some nodes were checked although that would not have been necessary), now this is done exact (like a rounded cube).
Benchmarks:
NormalEstimation (without OpenMP) with octree:
Calling radiusSearch on every (valid) point of a cloud (r is tuned so that 5 and 50 neighbours are found on average, respectively):