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Added pdal optional dependency (export to LAS, E57, ...)

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This commit is contained in:
matlabbe
2021-01-14 15:49:18 -05:00
parent eae5f2b428
commit 0bc483b6d3
6 changed files with 497 additions and 13 deletions
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105
guilib/src/ExportCloudsDialog.cpp
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@@ -76,6 +76,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <open_chisel/weighting/ConstantWeighter.h>
#endif
#ifdef RTABMAP_PDAL
#include <rtabmap/core/PDALWriter.h>
#endif
namespace rtabmap {
ExportCloudsDialog::ExportCloudsDialog(QWidget *parent) :
@@ -3401,9 +3405,31 @@ void ExportCloudsDialog::saveClouds(
{
if(clouds.size() == 1)
{
QString path = QFileDialog::getSaveFileName(this, tr("Save cloud to ..."), workingDirectory+QDir::separator()+"cloud.ply", tr("Point cloud data (*.ply *.pcd)"));
#ifdef RTABMAP_PDAL
QString extensions = tr("Point cloud data (*.ply *.pcd");
std::list<std::string> pdalFormats = uSplit(getPDALSupportedWriters(), ' ');
for(std::list<std::string>::iterator iter=pdalFormats.begin(); iter!=pdalFormats.end(); ++iter)
{
if(iter->compare("ply") == 0 || iter->compare("pcd") == 0)
{
continue;
}
extensions += QString(" *.") + iter->c_str();
}
extensions += ")";
#else
QString extensions = tr("Point cloud data (*.ply *.pcd)");
#endif
QString path = QFileDialog::getSaveFileName(this, tr("Save cloud to ..."), workingDirectory+QDir::separator()+"cloud.ply", extensions);
if(!path.isEmpty())
{
if(QFileInfo(path).suffix().isEmpty())
{
//use ply by default
path += ".ply";
}
if(clouds.begin()->second->size())
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudRGBWithoutNormals;
@@ -3479,14 +3505,8 @@ void ExportCloudsDialog::saveClouds(
success = pcl::io::savePCDFile(path.toStdString(), *clouds.begin()->second, binaryMode) == 0;
}
}
else if(QFileInfo(path).suffix() == "ply" || QFileInfo(path).suffix() == "")
else if(QFileInfo(path).suffix() == "ply")
{
if(QFileInfo(path).suffix() == "")
{
//use ply by default
path += ".ply";
}
if(cloudIWithNormals.get())
{
success = pcl::io::savePLYFile(path.toStdString(), *cloudIWithNormals, binaryMode) == 0;
@@ -3504,9 +3524,30 @@ void ExportCloudsDialog::saveClouds(
success = pcl::io::savePLYFile(path.toStdString(), *clouds.begin()->second, binaryMode) == 0;
}
}
#ifdef RTABMAP_PDAL
else if(!QFileInfo(path).suffix().isEmpty())
{
if(cloudIWithNormals.get())
{
success = savePDALFile(path.toStdString(), *cloudIWithNormals) == 0;
}
else if(cloudIWithoutNormals.get())
{
success = savePDALFile(path.toStdString(), *cloudIWithoutNormals) == 0;
}
else if(cloudRGBWithoutNormals.get())
{
success = savePDALFile(path.toStdString(), *cloudRGBWithoutNormals) == 0;
}
else
{
success = savePDALFile(path.toStdString(), *clouds.begin()->second) == 0;
}
}
#endif
else
{
UERROR("Extension not recognized! (%s) Should be one of (*.ply *.pcd).", QFileInfo(path).suffix().toStdString().c_str());
UERROR("Extension not recognized! (%s) Should be one of (*.ply *.pcd *.las).", QFileInfo(path).suffix().toStdString().c_str());
}
if(success)
{
@@ -3528,13 +3569,30 @@ void ExportCloudsDialog::saveClouds(
}
else if(clouds.size())
{
QString path = QFileDialog::getExistingDirectory(this, tr("Save clouds to (*.ply *.pcd)..."), workingDirectory, 0);
QStringList items;
items.push_back("ply");
items.push_back("pcd");
#ifdef RTABMAP_PDAL
QString extensions = tr("Save clouds to (*.ply *.pcd");
std::list<std::string> pdalFormats = uSplit(getPDALSupportedWriters(), ' ');
for(std::list<std::string>::iterator iter=pdalFormats.begin(); iter!=pdalFormats.end(); ++iter)
{
if(iter->compare("ply") == 0 || iter->compare("pcd") == 0)
{
continue;
}
extensions += QString(" *.") + iter->c_str();
items.push_back(iter->c_str());
}
extensions += ")...";
#else
QString extensions = tr("Save clouds to (*.ply *.pcd)...");
#endif
QString path = QFileDialog::getExistingDirectory(this, extensions, workingDirectory, 0);
if(!path.isEmpty())
{
bool ok = false;
QStringList items;
items.push_back("ply");
items.push_back("pcd");
QString suffix = QInputDialog::getItem(this, tr("File format"), tr("Which format?"), items, 0, false, &ok);
if(ok)
@@ -3641,6 +3699,27 @@ void ExportCloudsDialog::saveClouds(
success = pcl::io::savePLYFile(pathFile.toStdString(), *transformedCloud, binaryMode) == 0;
}
}
#ifdef RTABMAP_PDAL
else if(!suffix.isEmpty())
{
if(cloudIWithNormals.get())
{
success = savePDALFile(pathFile.toStdString(), *cloudIWithNormals) == 0;
}
else if(cloudIWithoutNormals.get())
{
success = savePDALFile(pathFile.toStdString(), *cloudIWithoutNormals) == 0;
}
else if(cloudRGBWithoutNormals.get())
{
success = savePDALFile(pathFile.toStdString(), *cloudRGBWithoutNormals) == 0;
}
else
{
success = savePDALFile(pathFile.toStdString(), *transformedCloud) == 0;
}
}
#endif
else
{
UFATAL("Extension not recognized! (%s)", suffix.toStdString().c_str());