pcl textureMeshwithMultipleCameras triangles not textured

Some triangles are incorrectly marked as occluded because only one of its projected vertices is checked to be inside the occluding projected triangle https://github.com/PointCloudLibrary/pcl/blob/69e645c94686ec42a4b9891412921f77a9e83e8a/surface/include/pcl/surface/impl/texture_mapping.hpp#L849C9-L849C9 I think that the three projected vertices should be inside the occluding projected triangle in order to mark it as occluded. Should I create a pull request?

Nov 21 '17 13:11 javierBarandiaran

The behavior you describe makes sense. Can you come up with a simple test case which confirms your claim that we'll use as validation (and as a unit test later on).

Also, if you have a fix in mind, it would be good to visualize the difference in behaviors before and after the fix.

Nov 23 '17 00:11 SergioRAgostinho

This is the result with the current code before And this is the result with the proposed modification after I will try to reproduce this in a simple test case

Nov 23 '17 15:11 javierBarandiaran

Noticeably better! Feel free to open the PR once it's ready.

Nov 23 '17 15:11 SergioRAgostinho

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

May 19 '20 18:05 stale[bot]