PointCloudLibrary/pcl

Transform the `sensor_orientation_` and `sensor_origin_` in `transformPointCloud`

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#4,164 opened on Jun 4, 2020

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effort: lowgood first issuekind: proposalkind: todomodule: common

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Description

I think the sensor acquisition pose is so important that it can tell where the view point is when the data is acquired and how the objects could be occluded. However, I found this information is lost after calling pcl::transformPointCloud, which is just copying the previous pose. I am curious about the reasons behind this code and would like to know the possibility of always keeping this information with the point cloud data.

https://github.com/PointCloudLibrary/pcl/blob/0b63c9e8dd63e640998ab587ae9c642eccf3b2c9/common/include/pcl/common/impl/transforms.hpp#L237-L238

Contributor guide

Research direction
Examine the implementation of `transformPointCloud` in transforms.hpp to understand how point cloud data is transformed and why sensor fields are not updated. Then implement a fix to also transform `sensor orientation ` and `sensor origin ` using the input transformation matrix.
Tech stack
cpp
Domain
backend
Issue type
Bug
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
2
Estimated timeA rough time range for an experienced contributor to investigate, implement, test, and prepare a pull request.
1-3 hours
Activity statusHow available the issue appears right now: fresh, active, stale, blocked, or waiting on maintainer input.
Active
ClarityHow clearly the issue explains the expected change, acceptance criteria, and next step.
Clear
Prerequisites
C++
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
60