Fix point cloud bounds#1656
Open
rhaschke wants to merge 4 commits intoros-visualization:melodic-develfrom
Open
Fix point cloud bounds#1656rhaschke wants to merge 4 commits intoros-visualization:melodic-develfrom
rhaschke wants to merge 4 commits intoros-visualization:melodic-develfrom
Conversation
getSquaredViewDepth() was not applying scene node transforms to the bounding box' center, resulting in incorrect squared distance to camera.
Compute *local* bounding radius from bounding box size.
Bounding sphere should be local to bounding box, not consider max length of point vectors. If the cloud is shifted strongly into some direction, those lengths will be large, although the bounding box (and sphere) can be small.
rhaschke
force-pushed
the
fix-misc-point-cloud-bounds
branch
from
7ecd6a7 to
7ad7879
Compare
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
This is a rework of #1644, targeted at Melodic.