PointCloudLibrary/pcl

OniGrabber wrongly assumes image data is RGB

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#683 创建于 2014年5月19日

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good first issuekind: todomodule: ioneeds: author reply

描述

In openni_device_oni.cpp:

boost::shared_ptr<openni_wrapper::Image> 
openni_wrapper::DeviceONI::getCurrentImage(boost::shared_ptr<xn::ImageMetaData> image_meta_data) const throw ()
{
  return (boost::shared_ptr<openni_wrapper::Image> (new openni_wrapper::ImageRGB24 (image_meta_data)));
}

This leads to weirdly corrupted images when .oni files that have a different encoding are played back in pcl_openni_viewer or when using the -oni switch in kinfu_app.

The openni_wrapper::DeviceONI::DeviceONI constructor should check the XnPixelFormat returned by image_generator_.GetPixelFormat() and pick the correct Image type, or at least throw an error if that's not RGB instead of wrongly interpreting the data.

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技术栈
cpp
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data
议题类型
bug
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前置要求
C++pixel format basicsPCL openni module
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45
研究方向
The bug is in the file `openni device oni.cpp`. The function `DeviceONI::getCurrentImage` currently always returns an `ImageRGB24` object. To fix this, examine the `DeviceONI` constructor where `image generator .GetPixelFormat()` is available. Then, based on the `XnPixelFormat` value, instantiate the appropriate `Image` subclass (e.g., `ImageRGB24`, `ImageYUV422`, etc.) or throw an error if unsupported. Reference the OpenNI pixel format documentation at http://kinectcar.ronsper.com/docs/openni/ xn types 8h.html#a1353b63052b435e150ca0f652539b431.