PointCloudLibrary / PointCloudLibrary/pcl
RenderViewsTesselatedSphere does not generate organized point clouds
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- Dominant language
- C++
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Description
In render_views_tesselated_sphere.cpp at line 295 an organized pointcloud is thoeritaically generated. However all the transformations applied right away (e.g. line 321 or line 464) rotate the pointcloud so that it is not aligned with the virtual sensor anymore.
To test this, use a PointCloudImageExtractorFromRGBField on one of the clouds to save an image, and the point of view of the resulting image will be completely different.
Contributor guide
First steps
- Read the whole issue, then the project's contributing guide.
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- Open a pull request that references the issue number.
Research direction
Start in apps/src/render_views_tesselated_sphere.cpp at lines 295, 321, and 464, then trace how the generated point cloud is transformed. Use PointCloudImageExtractorFromRGBField on one of the resulting clouds and compare the saved image's viewpoint with the virtual sensor. Done means the generated organized point cloud remains aligned with that sensor after the transformations.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- cpp
- Domain
- computer-vision
- Issue type
- Bug
- Difficulty
- 3/5
- Estimated time
- 1-2 days
- Activity status
- Stale
- Clarity
- Mostly clear
- Newbie friendliness
- 45/100