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

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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);