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export tool: use pcl's PLY writer instead of pdal if camera ids are not exported (ply compatibility issue when reading back using pcl)

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matlabbe
2021-07-05 10:04:51 -04:00
parent 68ae3b76af
commit 485bf806bd
1 changed files with 17 additions and 12 deletions
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29
tools/Export/main.cpp
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@@ -1091,21 +1091,26 @@ int main(int argc, char * argv[])
std::string outputPath=outputDirectory+"/"+baseName+"_cloud."+ext; std::string outputPath=outputDirectory+"/"+baseName+"_cloud."+ext;
printf("Saving %s... (%d points)\n", outputPath.c_str(), !cloudToExport->empty()?(int)cloudToExport->size():(int)cloudIToExport->size()); printf("Saving %s... (%d points)\n", outputPath.c_str(), !cloudToExport->empty()?(int)cloudToExport->size():(int)cloudIToExport->size());
#ifdef RTABMAP_PDAL #ifdef RTABMAP_PDAL
if(!cloudToExport->empty()) if(las || !pointToCamId.empty())
savePDALFile(outputPath, *cloudToExport, pointToCamId, binary);
else if(!cloudIToExport->empty())
savePDALFile(outputPath, *cloudIToExport, pointToCamId, binary);
#else
if(!pointToCamId.empty())
{ {
printf("Option --cam_projection is enabled but rtabmap is not built " if(!cloudToExport->empty())
"with PDAL support, so camera IDs won't be exported in the output cloud.\n"); savePDALFile(outputPath, *cloudToExport, pointToCamId, binary);
else if(!cloudIToExport->empty())
savePDALFile(outputPath, *cloudIToExport, pointToCamId, binary);
} }
if(!cloudToExport->empty()) else
pcl::io::savePLYFile(outputPath, *cloudToExport, binary);
else if(!cloudIToExport->empty())
pcl::io::savePLYFile(outputPath, *cloudIToExport, binary);
#endif #endif
{
if(!pointToCamId.empty())
{
printf("Option --cam_projection is enabled but rtabmap is not built "
"with PDAL support, so camera IDs won't be exported in the output cloud.\n");
}
if(!cloudToExport->empty())
pcl::io::savePLYFile(outputPath, *cloudToExport, binary);
else if(!cloudIToExport->empty())
pcl::io::savePLYFile(outputPath, *cloudIToExport, binary);
}
printf("Saving %s... done!\n", outputPath.c_str()); printf("Saving %s... done!\n", outputPath.c_str());
} }
} }