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Export: exporting with intensity for laser scans

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matlabbe
2019-02-06 18:46:37 -05:00
parent c8cd745f81
commit 6fc884b575
6 changed files with 228 additions and 90 deletions
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6
corelib/include/rtabmap/core/util3d.h
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@@ -234,12 +234,12 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP laserScanToPointCloud(const Lase
// For laserScan without normals, normals are set to null.
pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_EXP laserScanToPointCloudNormal(const LaserScan & laserScan, const Transform & transform = Transform());
// For laserScan without rgb, rgb is set to default r,g,b parameters.
pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP laserScanToPointCloudRGB(const LaserScan & laserScan, const Transform & transform = Transform(), unsigned char r = 255, unsigned char g = 255, unsigned char b = 255);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP laserScanToPointCloudRGB(const LaserScan & laserScan, const Transform & transform = Transform(), unsigned char r = 100, unsigned char g = 100, unsigned char b = 100);
// For laserScan without intensity, intensity is set to intensity parameter.
pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_EXP laserScanToPointCloudI(const LaserScan & laserScan, const Transform & transform = Transform(), float intensity = 0.0f);
// For laserScan without rgb, rgb is set to default r,g,b parameters.
// For laserScan without normals, normals are set to null.
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_EXP laserScanToPointCloudRGBNormal(const LaserScan & laserScan, const Transform & transform = Transform(), unsigned char r = 255, unsigned char g = 255, unsigned char b = 255);
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_EXP laserScanToPointCloudRGBNormal(const LaserScan & laserScan, const Transform & transform = Transform(), unsigned char r = 100, unsigned char g = 100, unsigned char b = 100);
// For laserScan without intensity, intensity is set to default intensity parameter.
// For laserScan without normals, normals are set to null.
pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_EXP laserScanToPointCloudINormal(const LaserScan & laserScan, const Transform & transform = Transform(), float intensity = 0.0f);
@@ -249,7 +249,7 @@ pcl::PointXYZ RTABMAP_EXP laserScanToPoint(const LaserScan & laserScan, int inde
// For laserScan without normals, normals are set to null.
pcl::PointNormal RTABMAP_EXP laserScanToPointNormal(const LaserScan & laserScan, int index);
// For laserScan without rgb, rgb is set to default r,g,b parameters.
pcl::PointXYZRGB RTABMAP_EXP laserScanToPointRGB(const LaserScan & laserScan, int index, unsigned char r = 255, unsigned char g = 255, unsigned char b = 255);
pcl::PointXYZRGB RTABMAP_EXP laserScanToPointRGB(const LaserScan & laserScan, int index, unsigned char r = 100, unsigned char g = 100, unsigned char b = 100);
// For laserScan without intensity, intensity is set to intensity parameter.
pcl::PointXYZI RTABMAP_EXP laserScanToPointI(const LaserScan & laserScan, int index, float intensity);
// For laserScan without rgb, rgb is set to default r,g,b parameters.

4
corelib/include/rtabmap/core/util3d_filtering.h
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@@ -316,12 +316,16 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP removeNaNFromPointCloud(
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP removeNaNFromPointCloud(
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud);
pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_EXP removeNaNFromPointCloud(
const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud);
pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_EXP removeNaNNormalsFromPointCloud(
const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud);
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_EXP removeNaNNormalsFromPointCloud(
const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud);
pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_EXP removeNaNNormalsFromPointCloud(
const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud);
/**
* For convenience.

12
corelib/src/util3d.cpp
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@@ -2485,6 +2485,12 @@ pcl::PointXYZRGB laserScanToPointRGB(const LaserScan & laserScan, int index, uns
output.g = (unsigned char)((ptrInt[indexRGB] >> 8) & 0xFF);
output.r = (unsigned char)((ptrInt[indexRGB] >> 16) & 0xFF);
}
else if(laserScan.hasIntensity())
{
// based on Velodyne/SICK specification of intensity 0-100
int indexIntensity = laserScan.getIntensityOffset();
output.b = output.g = output.r = (unsigned char)ptr[indexIntensity];
}
else
{
output.r = r;
@@ -2539,6 +2545,12 @@ pcl::PointXYZRGBNormal laserScanToPointRGBNormal(const LaserScan & laserScan, in
output.g = (unsigned char)((ptrInt[indexRGB] >> 8) & 0xFF);
output.r = (unsigned char)((ptrInt[indexRGB] >> 16) & 0xFF);
}
else if(laserScan.hasIntensity())
{
// based on Velodyne/SICK specification of intensity 0-100
int indexIntensity = laserScan.getIntensityOffset();
output.b = output.g = output.r = (unsigned char)ptr[indexIntensity];
}
else
{
output.r = r;

9
corelib/src/util3d_filtering.cpp
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@@ -792,6 +792,10 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr removeNaNFromPointCloud(const pcl::PointC
{
return removeNaNFromPointCloudImpl<pcl::PointXYZRGB>(cloud);
}
pcl::PointCloud<pcl::PointXYZI>::Ptr removeNaNFromPointCloud(const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud)
{
return removeNaNFromPointCloudImpl<pcl::PointXYZI>(cloud);
}
template<typename PointT>
typename pcl::PointCloud<PointT>::Ptr removeNaNNormalsFromPointCloudImpl(
@@ -812,6 +816,11 @@ pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr removeNaNNormalsFromPointCloud(
{
return removeNaNNormalsFromPointCloudImpl<pcl::PointXYZRGBNormal>(cloud);
}
pcl::PointCloud<pcl::PointXYZINormal>::Ptr removeNaNNormalsFromPointCloud(
const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud)
{
return removeNaNNormalsFromPointCloudImpl<pcl::PointXYZINormal>(cloud);
}
pcl::IndicesPtr radiusFiltering(const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud, float radiusSearch, int minNeighborsInRadius)