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ExportCloudsDialog: fixed scan output frame

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This commit is contained in:
matlabbe
2017-06-26 12:02:48 -04:00
parent 5f8ffa7afc
commit a8853bdee6
1 changed files with 11 additions and 15 deletions
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26
guilib/src/ExportCloudsDialog.cpp
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@@ -2460,16 +2460,14 @@ std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::Indic
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudWithoutNormals; pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudWithoutNormals;
localTransform = Transform::getIdentity(); localTransform = Transform::getIdentity();
Eigen::Vector3f viewPoint(0.0f,0.0f,0.0f); Eigen::Vector3f viewPoint(0.0f,0.0f,0.0f);
if(_ui->comboBox_frame->isEnabled() && if(!data.laserScanInfo().localTransform().isNull())
_ui->comboBox_frame->currentIndex()!=3 &&
!data.laserScanInfo().localTransform().isNull())
{ {
localTransform = data.laserScanInfo().localTransform(); localTransform = data.laserScanInfo().localTransform();
viewPoint[0] = localTransform.x(); viewPoint[0] = localTransform.x();
viewPoint[1] = localTransform.y(); viewPoint[1] = localTransform.y();
viewPoint[2] = localTransform.z(); viewPoint[2] = localTransform.z();
} }
cloudWithoutNormals = util3d::laserScanToPointCloudRGB(scan, localTransform); cloudWithoutNormals = util3d::laserScanToPointCloudRGB(scan, localTransform); // put in base frame by default
if(cloudWithoutNormals->size()) if(cloudWithoutNormals->size())
{ {
if(_ui->doubleSpinBox_voxelSize_assembled->value()>0.0) if(_ui->doubleSpinBox_voxelSize_assembled->value()>0.0)
@@ -2600,20 +2598,14 @@ std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::Indic
if(!info.localTransform().isNull()) if(!info.localTransform().isNull())
{ {
if(_ui->comboBox_frame->isEnabled() && _ui->comboBox_frame->currentIndex()!=3) viewPoint[0] = localTransform.x();
{ viewPoint[1] = localTransform.y();
viewPoint[0] = localTransform.x(); viewPoint[2] = localTransform.z();
viewPoint[1] = localTransform.y(); localTransform = info.localTransform().inverse();
viewPoint[2] = localTransform.z();
}
else
{
localTransform = info.localTransform().inverse();
}
} }
bool is2D = cachedScans.at(iter->first).channels() == 2; bool is2D = cachedScans.at(iter->first).channels() == 2;
cloudWithoutNormals = util3d::laserScanToPointCloudRGB(cachedScans.at(iter->first), localTransform); cloudWithoutNormals = util3d::laserScanToPointCloudRGB(cachedScans.at(iter->first)); // already in base frame
if(cloudWithoutNormals->size()) if(cloudWithoutNormals->size())
{ {
if(_ui->doubleSpinBox_voxelSize_assembled->value()>0.0) if(_ui->doubleSpinBox_voxelSize_assembled->value()>0.0)
@@ -2678,6 +2670,10 @@ std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::Indic
{ {
cloud = util3d::transformPointCloud(cloud, localTransform.inverse()); // put back in camera frame cloud = util3d::transformPointCloud(cloud, localTransform.inverse()); // put back in camera frame
} }
else if(_ui->comboBox_frame->isEnabled() && _ui->comboBox_frame->currentIndex()==3)
{
cloud = util3d::transformPointCloud(cloud, localTransform.inverse()); // put back in scan frame
}
clouds.insert(std::make_pair(iter->first, std::make_pair(cloud, indices))); clouds.insert(std::make_pair(iter->first, std::make_pair(cloud, indices)));
points = (int)cloud->size(); points = (int)cloud->size();