pcl_viewer lookup table does not display correct colors when using random or label field.

[mschoeler]

Using a random color for the pointcloud display or the label field together with display lookup table (pressing u in the viewer) gives a colorbar, which has meaningless colors for the label field. It would be very nice if the colorbar shows the right color per label. I tried to work on that, but I'm not familiar with the pcl_visualizer and pcl_viewer code. So I just could not find the place which needs to be changed.
However the numbers displayed on the bottom are the ones which are returned for minmax in the function call scalars->GetRange (minmax) pcl_visualizer.cpp line 2640
Attached is a screenshot showing this for a labeled pointcloud (labels 0-3).

[taketwo]

I think this would be a nice enhancement of the viewer. Although I'm also not very familiar with the code base, so can't help on this.

[VictorLamoine]

Can you give an example code of a point cloud with labels? I don't know what these are.
pcd and/or cpp

[mschoeler]

Sure, I uploaded two pcd-files from the COSEG segmetation benchmark, were I sampled points on the faces of the polygonal model.
Here's the link:
https://www.dropbox.com/sh/eo32sqh11z4rk2p/AAAQl86Q1COrSdHO2LNUy95ta?dl=0
Let me know if you need more or different files.
Cheers,
Markus

[stale]

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