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Fixing various issues detected by rtabmap_slam tests (#1773)

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* Fixing getNodeData missing compressed grids

* Fixing roundtrip laserScan <-> Pointcloud2 on all formats.

* Keep already compressed user_data and laser_scan if possible

* fixed double compression of user_data

* reorder headers

* removed dead function declaration

* expand test coverage
This commit is contained in:
matlabbe
2026-09-26 21:07:59 -07:00
committed by GitHub
parent 16fb2f0541
commit 66c72be7db
12 changed files with 396 additions and 21 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);