PointCloudLibrary/pcl

OniGrabber wrongly assumes image data is RGB

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#683 opened on May 19, 2014

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good first issuekind: todomodule: ioneeds: author reply

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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

Research direction
Inspect the `openni wrapper::DeviceONI::getCurrentImage` method and ensure that the pixel format is checked before creating the image object.
Tech stack
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Domain
computer graphics
Issue type
Bug
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
3
Estimated timeA rough time range for an experienced contributor to investigate, implement, test, and prepare a pull request.
1-3 hours
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Clear
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C++Git
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60