Bug: Exported PCD points are rotated

[hetzge]

If i export a pcd file then the coordinates are rotated.

Steps to reproduce

• Open pointcloud_labeling.pcd
• Download via "PCD Output as File" in the top right corner
• Copy the downloaded file to the "images-folder"
• Open the copied file in the semantic segmentation editor

Original:

VERSION .7
FIELDS x y z intensity ignore
SIZE 4 4 4 4 4
TYPE F F F F I
COUNT 1 1 1 1 1
WIDTH 18524
HEIGHT 1
POINTS 18524
VIEWPOINT 0.05900321900844574 -0.07574359327554703 -0.2720370888710022 0.5081034302711487 0.4905165731906891 -0.5046494603157043 0.496541291475296
DATA ascii
56.11600112915039 3.2920000553131104 2.109999895095825 0.0 8
56.095001220703125 3.378999948501587 2.1089999675750732 0.0 8
56.00400161743164 3.549999952316284 2.1070001125335693 0.0 8
56.03799819946289 3.7290000915527344 2.1080000400543213 0.0 8
56.034000396728516 3.9059998989105225 2.1089999675750732 0.0 8
55.95399856567383 4.077000141143799 2.1059999465942383 0.0 8

After:

VERSION .7
FIELDS x y z label object
SIZE 4 4 4 4 4
TYPE F F F I I
COUNT 1 1 1 1 1
WIDTH 18524
HEIGHT 1
POINTS 18524
VIEWPOINT 0.05900321900844574 -0.07574359327554703 -0.2720370888710022 0.5081034302711487 0.4905165731906891 -0.5046494603157043 0.496541291475296
DATA ascii
-3.565118601287626 -1.7615104680102895 56.06772173278916 0 -1
-3.6520123553317507 -1.758476448887155 56.04647916606177 0 -1
-3.8226810941159712 -1.7529514743923365 55.955004688730185 0 -1
-4.0017304907383195 -1.7490308943630026 55.98852715415024 0 -1
-4.178687184667901 -1.745523041397373 55.98406245504172 0 -1
-4.349357383294862 -1.7388936721846697 55.90357577186323 0 -1
-3.718441293984947 -1.372338817361772 40.194880423352274 0 -1

[dmandrioli]

Indeed that's a bug. Thanks for your feedback.