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export: output intensity channel with RGB when --cam_projection and --scan options are set (PDAL required)

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This commit is contained in:
matlabbe
2021-09-07 15:57:23 -04:00
parent c43118cde8
commit 20361400e1
3 changed files with 109 additions and 10 deletions
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4
corelib/include/rtabmap/core/PDALWriter.h
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@@ -36,8 +36,8 @@ namespace rtabmap {
std::string getPDALSupportedWriters();
int savePDALFile(const std::string & filePath, const pcl::PointCloud<pcl::PointXYZ> & cloud, const std::vector<int> & cameraIds = std::vector<int>(), bool binary = false);
int savePDALFile(const std::string & filePath, const pcl::PointCloud<pcl::PointXYZRGB> & cloud, const std::vector<int> & cameraIds = std::vector<int>(), bool binary = false);
int savePDALFile(const std::string & filePath, const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud, const std::vector<int> & cameraIds = std::vector<int>(), bool binary = false);
int savePDALFile(const std::string & filePath, const pcl::PointCloud<pcl::PointXYZRGB> & cloud, const std::vector<int> & cameraIds = std::vector<int>(), bool binary = false, const std::vector<float> & intensities = std::vector<float>());
int savePDALFile(const std::string & filePath, const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud, const std::vector<int> & cameraIds = std::vector<int>(), bool binary = false, const std::vector<float> & intensities = std::vector<float>());
int savePDALFile(const std::string & filePath, const pcl::PointCloud<pcl::PointXYZI> & cloud, const std::vector<int> & cameraIds = std::vector<int>(), bool binary = false);
int savePDALFile(const std::string & filePath, const pcl::PointCloud<pcl::PointXYZINormal> & cloud, const std::vector<int> & cameraIds = std::vector<int>(), bool binary = false);

74
corelib/src/PDALWriter.cpp
View File

@@ -143,14 +143,40 @@ int savePDALFile(const std::string & filePath,
int savePDALFile(const std::string & filePath,
const pcl::PointCloud<pcl::PointXYZRGB> & cloud,
const std::vector<int> & cameraIds,
bool binary)
bool binary,
const std::vector<float> & intensities)
{
UASSERT_MSG(cameraIds.empty() || cameraIds.size() == cloud.size(),
uFormat("cameraIds=%d cloud=%d", (int)cameraIds.size(), (int)cloud.size()).c_str());
UASSERT_MSG(intensities.empty() || intensities.size() == cloud.size(),
uFormat("intensities=%d cloud=%d", (int)intensities.size(), (int)cloud.size()).c_str());
pdal::PointTable table;
if(!cameraIds.empty())
if(!intensities.empty() && !cameraIds.empty())
{
table.layout()->registerDims({
pdal::Dimension::Id::X,
pdal::Dimension::Id::Y,
pdal::Dimension::Id::Z,
pdal::Dimension::Id::Red,
pdal::Dimension::Id::Green,
pdal::Dimension::Id::Blue,
pdal::Dimension::Id::PointSourceId,
pdal::Dimension::Id::Intensity});
}
else if(!intensities.empty())
{
table.layout()->registerDims({
pdal::Dimension::Id::X,
pdal::Dimension::Id::Y,
pdal::Dimension::Id::Z,
pdal::Dimension::Id::Red,
pdal::Dimension::Id::Green,
pdal::Dimension::Id::Blue,
pdal::Dimension::Id::Intensity});
}
else if(!cameraIds.empty())
{
table.layout()->registerDims({
pdal::Dimension::Id::X,
@@ -186,6 +212,10 @@ int savePDALFile(const std::string & filePath,
{
view->setField(pdal::Dimension::Id::PointSourceId, i, cameraIds.at(i));
}
if(!intensities.empty())
{
view->setField(pdal::Dimension::Id::Intensity, i, (unsigned short)intensities.at(i));
}
}
bufferReader.addView(view);
@@ -219,14 +249,46 @@ int savePDALFile(const std::string & filePath,
int savePDALFile(const std::string & filePath,
const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud,
const std::vector<int> & cameraIds,
bool binary)
bool binary,
const std::vector<float> & intensities)
{
UASSERT_MSG(cameraIds.empty() || cameraIds.size() == cloud.size(),
uFormat("cameraIds=%d cloud=%d", (int)cameraIds.size(), (int)cloud.size()).c_str());
UASSERT_MSG(intensities.empty() || intensities.size() == cloud.size(),
uFormat("intensities=%d cloud=%d", (int)intensities.size(), (int)cloud.size()).c_str());
pdal::PointTable table;
if(!cameraIds.empty())
if(!intensities.empty() && !cameraIds.empty())
{
table.layout()->registerDims({
pdal::Dimension::Id::X,
pdal::Dimension::Id::Y,
pdal::Dimension::Id::Z,
pdal::Dimension::Id::Red,
pdal::Dimension::Id::Green,
pdal::Dimension::Id::Blue,
pdal::Dimension::Id::NormalX,
pdal::Dimension::Id::NormalY,
pdal::Dimension::Id::NormalZ,
pdal::Dimension::Id::PointSourceId,
pdal::Dimension::Id::Intensity});
}
else if(!intensities.empty())
{
table.layout()->registerDims({
pdal::Dimension::Id::X,
pdal::Dimension::Id::Y,
pdal::Dimension::Id::Z,
pdal::Dimension::Id::Red,
pdal::Dimension::Id::Green,
pdal::Dimension::Id::Blue,
pdal::Dimension::Id::NormalX,
pdal::Dimension::Id::NormalY,
pdal::Dimension::Id::NormalZ,
pdal::Dimension::Id::Intensity});
}
else if(!cameraIds.empty())
{
table.layout()->registerDims({
pdal::Dimension::Id::X,
@@ -271,6 +333,10 @@ int savePDALFile(const std::string & filePath,
{
view->setField(pdal::Dimension::Id::PointSourceId, i, cameraIds.at(i));
}
if(!intensities.empty())
{
view->setField(pdal::Dimension::Id::Intensity, i, (unsigned short)intensities.at(i));
}
}
bufferReader.addView(view);