VoxelGridOcclusionEstimation: fix behaviour if sensor origin is inside the voxel grid#5867
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mvieth merged 2 commits intoPointCloudLibrary:masterfrom Nov 15, 2023
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mvieth
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module: filters
changelog: fix
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I can confirm that it now works on the sample cloud, although the viewer application is quite slow on it. |
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Yes, I also noticed that. Apparently, VTK takes quite some time to generate and show all the boxes. The second commit in this PR should at least improve the processing time a bit: Instead of drawing one box per point in the input cloud (meaning that very often the same box will be drawn multiple times), the viewer now draws only one box per occupied voxel. |
- call Update() on vtk classes, otherwise the shown window is empty - use the filtered cloud instead of whole input cloud, otherwise processing is very slow for larger clouds - use the fixed RenderWindowInteractor
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larshg
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Nov 15, 2023
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Fixes #5858