PointCloudLibrary / PointCloudLibrary/pcl
Transform the `sensor_orientation_` and `sensor_origin_` in `transformPointCloud`
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- Dominant language
- C++
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Description
I think the sensor acquisition pose is so important that it can tell where the view point is when the data is acquired and how the objects could be occluded. However, I found this information is lost after calling pcl::transformPointCloud, which is just copying the previous pose. I am curious about the reasons behind this code and would like to know the possibility of always keeping this information with the point cloud data.
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 with common/include/pcl/common/impl/transforms.hpp at the linked transformPointCloud code and trace how sensor_orientation_ and sensor_origin_ are handled. Clarify the expected pose semantics for a transformed point cloud, then verify the agreed behavior with relevant transformPointCloud coverage; done means the sensor metadata is preserved or transformed consistently rather than copied unchanged.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- cpp
- Domain
- computer-vision
- Issue type
- Feature
- Difficulty
- 4/5
- Estimated time
- 3-5 days
- Activity status
- Quiet
- Clarity
- Needs clarification
- Newbie friendliness
- 45/100