PointCloudLibrary / PointCloudLibrary/pcl
Segmentation module has inconsistent API
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- Dominant language
- C++
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Description
EuclideanClusterExtraction::extract requires std::vector<PointIndices> while PCLBase::setIndices requires PointIndices::Ptr.
The result is that if you want to get one to the other a
std::vector<pcl::PointIndices> clusters;
ec.extract( clusters );
extractor.setIndices(
boost::shared_ptr<pcl::PointIndices>(
new pcl::PointIndices( clusters[0] ) ) );
I suspect this pattern exists in other parts of pcl.
Code that fits the pattern should probably be adjusted to use vector<PointIndices::Ptr> instead if not shared_ptr<vector<PointIndices::Ptr> >
Likewise PCLBase should add an overload for PointIndices and make a copy
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 by comparing EuclideanClusterExtraction::extract with PCLBase::setIndices and trace the related PointIndices types. Survey whether the same value-versus-pointer mismatch appears elsewhere in the segmentation module; done means the affected APIs use a consistent, documented representation without requiring the manual conversion shown here.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- cpp
- Domain
- computer-vision
- Issue type
- Refactor
- Difficulty
- 4/5
- Estimated time
- 3-5 days
- Activity status
- Stale
- Clarity
- Mostly clear
- Newbie friendliness
- 35/100