PointCloudLibrary / PointCloudLibrary/pcl
pcl::MovingLeastSquares will cause weird bump when processing region with thickness
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Description
Hi,
When I process my scene with pcl::MovingLeastSquares, it will cause weird bump when processing region with thickness:
I think that is cause by local plane fitting step of MovingLeastSquares, If I am correct, the MovingLeastSquares should improve fitting local plane step by local PCA or Linear RANSAC, and separate the fitting region into truly local plane, and then separately deal them at further process.
Your Environment
- Operating System and version: Win10
- Compiler:
- PCL Version: 1.9.1
Context
Expected Behavior
Current Behavior
The local plane fitting step of MovingLeastSquares cant deal with thickness:
Because it just cannot fit a region with thickness to a single plane, it should be two planes:
Code to Reproduce
Possible Solution
Contributor guide
First steps
- Read the whole issue, then the project's contributing guide.
- Comment on the issue to say you are picking it up — it saves two people doing the same work.
- Fork the repository and make your change on a branch.
- Open a pull request that references the issue number.
Research direction
Start at pcl::MovingLeastSquares and investigate the local plane fitting step described in the issue. First reproduce the reported bump on a region with thickness using PCL 1.9.1 on the provided scene, then compare the fitting result with the expected separate-plane behavior. Done should include a confirmed reproduction and an agreed approach for handling thick regions.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- cpp
- Domain
- computer-vision
- Issue type
- Bug
- Difficulty
- 5/5
- Estimated time
- Over a week
- Activity status
- Stale
- Clarity
- Needs clarification
- Newbie friendliness
- 25/100