PointCloudLibrary / PointCloudLibrary/pcl
OniGrabber wrongly assumes image data is RGB
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- Dominant language
- C++
- Stars
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- Avg merge
- 4d 10h
- Merged PRs (30d)
- 6
Description
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.
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 in openni_device_oni.cpp, reviewing DeviceONI::DeviceONI, getCurrentImage, and the Image types used by the wrapper. Check the XnPixelFormat returned by image_generator_.GetPixelFormat() and trace playback through pcl_openni_viewer or the -oni path in kinfu_app. Done means non-RGB .oni data is handled with the correct Image type or rejected explicitly without corrupted images.
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