PointCloudLibrary / PointCloudLibrary/pcl
Tools mesh2pcd producing an extra set of spurious points
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Nobody has claimed this yet.
good first issue
kind: bug
kind: todo
module: apps
module: visualization
- Dominant language
- C++
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Description
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:
- The code is still using pcl::visualizer:: renderViewTesselatedSphere (...). It should be using pcl::apps::RenderViewsTesselatedSphere(), otherwise it SEGFAULT with some .ply files.
- 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
Contributor guide
First steps
- Read the whole issue, then the project's contributing guide.
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- Fork the repository and make your change on a branch.
- Open a pull request that references the issue number.
Research direction
Start in src/tools/mesh2pcd.cpp, especially lines 145-155, and compare the two RenderViewsTesselatedSphere APIs mentioned in the issue. Run the mesh2pcd workflow with a file such as jar1.ply and inspect the generated .pcd output. Done means avoiding the reported segmentation fault and eliminating spurious plane points that are absent from the source mesh.
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
- 35/100