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ros-industrial / noether

Tool path planning and surface segmenter
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Importing PLY vs STL gives different segmentation results #21

Open mpowelson opened 5 years ago

mpowelson commented 5 years ago

There is some difference in the segmentation results when importing the same mesh from a ply vs stl. When importing a ply, we use pcl:io to a PolygonMesh then convert to VTK. When using stl we just import using VTK. Generally speaking it looks like ones converted from PolygonMesh are more "smooth" and thus get segmented into fewer pieces.

This issue also arises when using the action interface as we are passing the meshes as a PolygonMesh message. It's difficult to say if one or the other is "right" or "wrong" or if the normals just get calculated differently in each case.

jrgnicho commented 5 years ago

The difference may be in how the normals are generated for each file type.