Incorrect colour in highly saturated areas [solved]

[JSewell-8]

I have noticed a recurring issue which I also had with the RealSense SDK. When I create a colourised point cloud in PCL, areas which are very dark will have scatterings of dark blue colours and cyan colours. Similarly areas of white might contain red colours instead in the point cloud.

http://s13.postimg.org/nw4qhz8nr/Capture.png

My initial assumption was some kind of overflow. As I understand, very dark areas are not suitable for reliable depth values. However, if you were to infill some depth from surrounding areas then it should be possible to get a colour from the mapping function.The points in my cloud are valid and at the correct depth just the colour is off.

I use the following 3 functions to determine the pixel colour and check the output pixel is within the bounds of the RGB image:

rs_deproject_pixel_to_point(...)
rs_transform_point_to_point(,...)
rs_project_point_to_pixel(...)

So my question is whether this is a problem with the colour mapping or just an issue with PCL? Sorry, this is more of a forum type question.

[JSewell-8]

I have managed to work out that this is an issue with PCL's .pcd file format when loading XYZRGB clouds from file. Apologies, this does not seem to be an issue with the library.