keep_organized parameter makes no difference in pcl/CropBox nodelet

[vbschettino]

Hi,

I think the title is self-explanatory; when using the pcl/CropBox nodelet, the keep_organized parameter seems to make no difference and the output cloud is always unorganized. Following is the launch file I used to see this:

<launch>
    <node pkg="nodelet" type="nodelet" name="pcl_manager" args="manager" output="screen" />

    <node pkg="nodelet" type="nodelet" name="crop_box" args="load pcl/CropBox pcl_manager" output="screen">
        <remap from="~input" to="/camera/depth_registered/points"/>
        <rosparam>
              keep_organized: true
        </rosparam>
    </node>
</launch>

[SteveMacenski]

@vbschettino are you sure your pointcloud was organized to begin with?

perception_pcl/pcl_ros/src/pcl_ros/filters/crop_box.cpp

Line 84 in 12482e5

// Check the current value for keep_organized

This logic looks pretty solid to me. What's your distribution / version?

[mvieth]

I agree with @SteveMacenski that the keep_organized parameter is definitely passed on to the filter. I tested it (with an organized cloud) and found the same problem as @vbschettino. To me it seems that there is a bug in pcl itself, so I created an issue there.

[SteveMacenski]

Awesome! Thanks for hunting that down!

Closing this ticket and I’ll look at your new one

[peci1]

Just to explain the current status: Melodic is affected and won't be fixed. Noetic is already fixed.

If anyone needs a working cropbox filter in Melodic, you can take inspiration here: https://github.com/tpet/nav_utils/blob/99b017599ba48e708d80b2391370f2d74169c227/src/nav_utils/crop_box_nodelet.cpp .