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Added invalid point checking to RGBD and Depth Camera plugins to set is_dense flag accordingly (backport #575) #580

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Merged
ahcorde merged 1 commit into from
Jan 7, 2026
Merged

Added invalid point checking to RGBD and Depth Camera plugins to set is_dense flag accordingly (backport #575) #580

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1 change: 0 additions & 1 deletion src/DepthCameraSensor.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -627,7 +627,6 @@ bool DepthCameraSensor::Update(
// Set the time stamp
*this->dataPtr->pointMsg.mutable_header()->mutable_stamp() =
msgs::Convert(_now);
this->dataPtr->pointMsg.set_is_dense(true);

if (!this->dataPtr->xyzBuffer)
this->dataPtr->xyzBuffer = new float[width*height*3];
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32 changes: 32 additions & 0 deletions src/PointCloudUtil.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -37,6 +37,9 @@ void PointCloudUtil::FillMsg(msgs::PointCloudPacked &_msg,
msgBuffer->resize(_msg.row_step() * _msg.height());
char *msgBufferIndex = msgBuffer->data();

// Set Pointcloud as dense. Change if invalid points are found.
bool isDense { true };

// For depth calculation from image
double fl = width / (2.0 * std::tan(_hfov.Radian() / 2.0));

Expand All @@ -54,6 +57,10 @@ void PointCloudUtil::FillMsg(msgs::PointCloudPacked &_msg,
// Current point depth
float depth = _depthData[j * width + i];

// Validate Depth/Radius and update pointcloud density flag
if (isDense)
isDense = !(gz::math::isnan(depth) || std::isinf(depth));

float yAngle = 0.0;
if (fl > 0 && width > 1)
yAngle = std::atan2(0.5 * (width - 1) - i, fl);
Expand Down Expand Up @@ -87,6 +94,7 @@ void PointCloudUtil::FillMsg(msgs::PointCloudPacked &_msg,
msgBufferIndex += _msg.point_step();
}
}
_msg.set_is_dense(isDense);
}

//////////////////////////////////////////////////
Expand All @@ -100,6 +108,9 @@ void PointCloudUtil::FillMsg(msgs::PointCloudPacked &_msg,
msgBuffer->resize(_msg.row_step() * _msg.height());
char *msgBufferIndex = msgBuffer->data();

// Set Pointcloud as dense. Change if invalid points are found.
bool isDense { true };

// Iterate over scan and populate point cloud
for (uint32_t j = 0; j < height; ++j)
{
Expand All @@ -111,6 +122,14 @@ void PointCloudUtil::FillMsg(msgs::PointCloudPacked &_msg,
float y = _xyzData[index + 1];
float z = _xyzData[index + 2];

// Validate Depth/Radius and update pointcloud density flag
if (isDense)
{
isDense = !(gz::math::isnan(x) || std::isinf(x) ||
gz::math::isnan(y) || std::isinf(y) ||
gz::math::isnan(z) || std::isinf(z));
}

int fieldIndex = 0;
*reinterpret_cast<float*>(msgBufferIndex +
_msg.field(fieldIndex++).offset()) = x;
Expand Down Expand Up @@ -142,6 +161,7 @@ void PointCloudUtil::FillMsg(msgs::PointCloudPacked &_msg,
msgBufferIndex += _msg.point_step();
}
}
_msg.set_is_dense(isDense);
}

//////////////////////////////////////////////////
Expand All @@ -157,6 +177,9 @@ void PointCloudUtil::FillMsg(msgs::PointCloudPacked &_msg,
msgBuffer->resize(_msg.row_step() * _msg.height());
char *msgBufferIndex = msgBuffer->data();

// Set Pointcloud as dense. Change if invalid points are found.
bool isDense { true };

// Iterate over scan and populate point cloud
for (uint32_t j = 0; j < height; ++j)
{
Expand All @@ -168,6 +191,14 @@ void PointCloudUtil::FillMsg(msgs::PointCloudPacked &_msg,
float x = _pointCloudData[pcIndex];
float y = _pointCloudData[pcIndex + 1];
float z = _pointCloudData[pcIndex + 2];
// Validate Depth/Radius and update pointcloud density flag
if (isDense)
{
isDense = !(gz::math::isnan(x) || std::isinf(x) ||
gz::math::isnan(y) || std::isinf(y) ||
gz::math::isnan(z) || std::isinf(z));
}

float rgba = _pointCloudData[pcIndex + 3];

int fieldIndex = 0;
Expand Down Expand Up @@ -218,6 +249,7 @@ void PointCloudUtil::FillMsg(msgs::PointCloudPacked &_msg,
}
}
}
_msg.set_is_dense(isDense);
}


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1 change: 0 additions & 1 deletion src/RgbdCameraSensor.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -578,7 +578,6 @@ bool RgbdCameraSensor::Update(const std::chrono::steady_clock::duration &_now)
// Set the time stamp
*this->dataPtr->pointMsg.mutable_header()->mutable_stamp() =
msgs::Convert(_now);
this->dataPtr->pointMsg.set_is_dense(true);

if ((this->dataPtr->hasDepthNearClip || this->dataPtr->hasDepthFarClip)
&& this->dataPtr->depthBuffer)
Expand Down
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