detect plane fail

[chenxianbo]

Hi，thank for your work。
I test to detect plane many times，but scucces only sevral times，it's always printf “two points for region growing”。（Some plane region never scucess ！！！）
I add some prints in the code， find not a keyfeame find one or more neighboor points around the select point， the accumulated points num is zero， I was confused。 I enlarge the radius 2030m, it can find neighboor points； 15m, failed。
All the operation is in centrair_graph dataset， detect plane region is as same as Example3 show。

[koide3]

At this moment, the plane detection algorithm is very naive, and we need to fine-tune some parameters depending on the environment. To detect large walls in centrainr_graph dataset, try to increase Initial neighbor radius and Normal estimation radius to 5.0 m.

[chenxianbo]

At this moment, the plane detection algorithm is very naive, and we need to fine-tune some parameters depending on the environment. To detect large walls in centrainr_graph dataset, try to increase Initial neighbor radius and Normal estimation radius to 5.0 m.

I find I click the same place‘s point, the point's coordinate is different very much when zoom in and zoom out。And when rotate the screen ， the same point show very different coordinate。

Another question， the keyframe pose graph is always roatate the opposite direction with the point cloud。

[koide3]

I find I click the same place‘s point, the point's coordinate is different very much when zoom in and zoom out。And when rotate the screen ， the same point show very different coordinate

I couldn't reproduce this phenomenon. Can you re-check if you clicked the same point?

Another question， the keyframe pose graph is always roatate the opposite direction with the point cloud。

I don't understand what is happening on your environment. Is it a kind of visualization issues?

[chenxianbo]

@koide3
My environment is ubuntu16.04 and kenitic，I am sure I select the same cloud point， when I roate the screen， it will show big different coordinate。But the pose graph have no problem。

[chenxianbo]

@koide3
I try ubuntu18.04 and melodic， it is the same， I down the newest master branch。My problem screen snot as fellows:

1. the keyframe pose graph is not align with the point cloud， them ratate opposite direction:
   

2. when roate the screen, the same cloud point have big different coordinate:
   
   

[koide3]

It looks something wrong on rendering. Can you check the OpenGL version on your PC with glxinfo | grep OpenGL?

[chenxianbo]

@koide3
xianbo@ubuntu:~/InteractiveSlam$ glxinfo | grep OpenGL
OpenGL vendor string: VMware, Inc.
OpenGL renderer string: SVGA3D; build: RELEASE; LLVM;
OpenGL core profile version string: 3.3 (Core Profile) Mesa 20.0.8
OpenGL core profile shading language version string: 3.30
OpenGL core profile context flags: (none)
OpenGL core profile profile mask: core profile
OpenGL core profile extensions:
OpenGL version string: 3.3 (Compatibility Profile) Mesa 20.0.8
OpenGL shading language version string: 3.30
OpenGL context flags: (none)
OpenGL profile mask: compatibility profile
OpenGL extensions:
OpenGL ES profile version string: OpenGL ES 2.0 Mesa 20.0.8
OpenGL ES profile shading language version string: OpenGL ES GLSL ES 1.0.16
OpenGL ES profile extensions:

[koide3]

I've not tried to run this program on a virtual machine, and I guess it has some issues relating to the virtual GL driver. Can you try to run it on a non-virtual environment?