ros-industrial / yak

There's a hard-coded minimum weight value which is used to determine if a voxel should be meshed or not. If a small number of scans are used to create the surface reconstruction, the output mesh could be incomplete or empty.

yak/yak/src/mc/marching_cubes.cpp

Lines 42 to 47 in ac84aa6

    
           const static uint16_t min_weight = 4; 
        
           uint16_t w; 
        
           val[0] = read(x + 1, y + 1, z, w); 
        
           if (w < min_weight) 
        
             return {};

Probably the root cause of this issue in yak_ros.

Nice!

Well, not so nice it's hard coded, but this confirms a hypothesis we (me and @dave992) formed while trying to debug what was going on.

We hadn't yet made it to yak itself.

Thanks for the insight @schornakj.

@dave992: this doesn't mean a proper extrinsic calibration shouldn't be performed :)

	const static uint16_t min_weight = 4;

	uint16_t w;
	val[0] = read(x + 1, y + 1, z, w);
	if (w < min_weight)
	return {};

Marching cubes skips voxels with low weights