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Fixing roundtrip laserScan <-> Pointcloud2 on all formats.

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This commit is contained in:
matlabbe
2026-09-26 13:40:40 -07:00
parent fff389cc56
commit 1702b94f57
2 changed files with 91 additions and 1 deletions
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corelib/src/util3d.cpp
+50 -1
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@@ -2328,10 +2328,59 @@ pcl::PCLPointCloud2::Ptr laserScanToPointCloud2(const LaserScan & laserScan, con
{
pcl::toPCLPointCloud2(*laserScanToPointCloud(laserScan, transform), *cloud);
}
else if(laserScan.format() == LaserScan::kXYI || laserScan.format() == LaserScan::kXYZI || laserScan.format() == LaserScan::kXYZIT || laserScan.format() == LaserScan::kXYZIRT)
else if(laserScan.format() == LaserScan::kXYI || laserScan.format() == LaserScan::kXYZI)
{
pcl::toPCLPointCloud2(*laserScanToPointCloudI(laserScan, transform), *cloud);
}
else if(laserScan.format() == LaserScan::kXYZIT || laserScan.format() == LaserScan::kXYZIRT)
{
// PCL has no point type with time (and ring): append them to the XYZI fields, with
// the types laserScanFromPointCloud() reads back (time FLOAT32, ring UINT16).
pcl::PCLPointCloud2 xyzi;
pcl::toPCLPointCloud2(*laserScanToPointCloudI(laserScan, transform), xyzi);
const bool hasRing = laserScan.format() == LaserScan::kXYZIRT;
cloud->header = xyzi.header;
cloud->height = xyzi.height;
cloud->width = xyzi.width;
cloud->is_bigendian = xyzi.is_bigendian;
cloud->is_dense = xyzi.is_dense;
cloud->fields = xyzi.fields;
pcl::PCLPointField time;
time.name = "time";
time.offset = xyzi.point_step;
time.datatype = pcl::PCLPointField::FLOAT32;
time.count = 1;
cloud->fields.push_back(time);
cloud->point_step = xyzi.point_step + 4;
pcl::PCLPointField ring;
if(hasRing)
{
ring.name = "ring";
ring.offset = cloud->point_step;
ring.datatype = pcl::PCLPointField::UINT16;
ring.count = 1;
cloud->fields.push_back(ring);
cloud->point_step += 4; // keep points 4-byte aligned
}
cloud->row_step = cloud->point_step * cloud->width;
cloud->data.resize(size_t(cloud->row_step) * cloud->height, 0);
const int cols = laserScan.data().cols;
const size_t points = size_t(cloud->width) * cloud->height;
for(size_t i=0; i<points; ++i)
{
unsigned char * dst = &cloud->data[i * cloud->point_step];
memcpy(dst, &xyzi.data[i * xyzi.point_step], xyzi.point_step);
const float * src = laserScan.data().ptr<float>(int(i) / cols, int(i) % cols);
memcpy(dst + time.offset, src + laserScan.getTimeOffset(), sizeof(float));
if(hasRing)
{
const std::uint16_t r = (std::uint16_t)src[laserScan.getRingOffset()];
memcpy(dst + ring.offset, &r, sizeof(r));
}
}
}
else if(laserScan.format() == LaserScan::kXYNormal || laserScan.format() == LaserScan::kXYZNormal)
{
pcl::toPCLPointCloud2(*laserScanToPointCloudNormal(laserScan, transform), *cloud);
corelib/test/test_util3d.cpp
+41
View File
@@ -1024,6 +1024,47 @@ TEST(Util3dTest, LaserScanFromPointCloudXYZINormal) {
EXPECT_FLOAT_EQ(pt.normal_z, 1.0f);
}
// laserScanToPointCloud2() and laserScanFromPointCloud() are each other's inverse, in
// every format: the per-point time and ring included, which no PCL point type holds, and
// 2D scans, which come back 2D when is2D is set.
TEST(Util3dTest, LaserScanPointCloud2RoundTripEveryFormat) {
for(int f = LaserScan::kXY; f <= LaserScan::kXYZIRT; ++f)
{
const LaserScan::Format format = (LaserScan::Format)f;
SCOPED_TRACE(LaserScan::formatName(format));
const int channels = LaserScan::channels(format);
// Small integers: exact through float and through the ring's UINT16 field.
cv::Mat points(1, 3, CV_32FC(channels));
for(int i = 0; i < points.cols; ++i)
{
float * p = points.ptr<float>(0, i);
for(int c = 0; c < channels; ++c)
{
p[c] = float(1 + i + c);
}
}
const LaserScan scan(points, 360, 10.0f, format);
if(scan.hasRGB())
{
for(int i = 0; i < points.cols; ++i)
{
const uint32_t rgb = 0x00102030u + i; // packed 0x00RRGGBB, as PCL stores it
memcpy(points.ptr<float>(0, i) + scan.getRGBOffset(), &rgb, sizeof(float));
}
}
pcl::PCLPointCloud2::Ptr cloud = util3d::laserScanToPointCloud2(scan);
ASSERT_EQ(cloud->width * cloud->height, (unsigned int)points.cols);
const LaserScan out = util3d::laserScanFromPointCloud(*cloud, true, scan.is2d());
EXPECT_EQ(out.format(), format);
ASSERT_EQ(out.data().size(), scan.data().size());
ASSERT_EQ(out.data().type(), scan.data().type());
EXPECT_EQ(0, memcmp(out.data().data, scan.data().data, scan.data().total() * scan.data().elemSize()));
}
}
TEST(Util3dTest, LaserScan2dFromPointCloudXYZ) {
pcl::PointCloud<pcl::PointXYZ> cloud;
cloud.push_back(pcl::PointXYZ(1.0f, 2.0f, 3.0f));