search

PointCloudLibrary / pcl

Point Cloud Library (PCL)
https://pointclouds.org/
Other
9.91k stars 4.61k forks source link

Maybe a bug of pcl_virtual_scanner #2933

Open TouchDeeper opened 5 years ago

TouchDeeper commented 5 years ago

Your Environment

Context

Hi, I want to get partial snapshots of an object(banana) according to the tutorial. But the first snapshots and only the first snapshots may become strange as the image below show: 2019-03-18 21-41-03屏幕截图 As you can see, the point cloud is not in the proper place. What's more, the normal estimation seems can't be applied in the pcd output from the pcl_virtual_scanner, there is no output from normal estimation. If it's my fault, please let me know. Thanks a lot!

Code to Reproduce

The source code of the project is here.

TouchDeeper commented 5 years ago

the normal estimation works properly. But the direction is ambiguity. I think it is because of the default viewpoint(0,0,0,1,0,0,0), I want to set the viewpoint, but what value should I set? I think the pose from render_views.getPoses(poses); may be helpful, but the pose also confuse me, which coordinate system is the pose based on and what is the pose belong to? The camera or the object? Can you provide me some advice? Thanks a lot.

stale[bot] commented 4 years ago

Marking this as stale due to 30 days of inactivity. It will be closed in 7 days if no further activity occurs.