PointCloudLibrary/pcl

Tools mesh2pcd producing an extra set of spurious points

Open

#381 建立於 2013年11月24日

在 GitHub 查看
 (4 留言) (0 反應) (0 負責人)C++ (9,023 star) (4,506 fork)batch import
good first issuekind: bugkind: todomodule: appsmodule: visualization

描述

I am using PCL-1.7 to generate .pcd files from .ply. Specifically the source file located in src/tools/mesh2pcd.cpp. I have 2 observations:

  1. The code is still using pcl::visualizer:: renderViewTesselatedSphere (...). It should be using pcl::apps::RenderViewsTesselatedSphere(), otherwise it SEGFAULT with some .ply files.
  2. The result obtained (the .pcd file) has some extra spurious plane points that do not belong to the original .ply file. As an example, here the original image of a file jar1.ply: http://i.imgur.com/WONtTAz.png And here the output I got (notice the plane crossing the left side of the jar): http://i.imgur.com/qmW8dpA.png

PS.- The change I made to the mesh2pcd file is here: (lines 145 to 155 mainly): http://pastebin.com/ST3g5Twt

貢獻者指南

技術棧
cpp
領域
tooling
議題類型
bug
難度面向新貢獻者的預計實作難度，1 表示很小改動，5 表示專家級工作。
3
預計時間有經驗貢獻者完成調查、實作、測試並準備 pull request 的粗略時間範圍。
1-3 hours
活動狀態議題目前的可參與程度：新鮮、活躍、陳舊、阻塞或等待維護者輸入。
stale
清晰度議題是否清楚說明預期改動、驗收標準和下一步。
clear
前置要求
Basic C++Familiarity with PCL libraryUnderstanding of point cloud formats
新手友善度1-100 的估計分數，表示該議題對首次貢獻者的友善程度。
75
研究方向
Start by examining the source file src/tools/mesh2pcd.cpp, particularly the section where renderViewTesselatedSphere is called (around lines 145-155 as referenced). The issue suggests replacing it with pcl::apps::RenderViewsTesselatedSphere to avoid segfaults. For the extra spurious points, investigate the transformation or rendering logic that might introduce a plane. Consider testing with the provided jar1.ply file.