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ViewClouds: fixed wrong color index used by default when normals are not computed with clouds having intensity

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matlabbe
2019-09-24 15:55:25 -04:00
parent cf1997804f
commit aeb2804da8
1 changed files with 39 additions and 17 deletions
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56
guilib/src/ExportCloudsDialog.cpp
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@@ -1211,25 +1211,47 @@ void ExportCloudsDialog::viewClouds(
if(!_ui->checkBox_fromDepth->isChecked())
{
// When laser scans are exported, convert RGB to Intensity
pcl::PointCloud<pcl::PointXYZINormal>::Ptr cloudI(new pcl::PointCloud<pcl::PointXYZINormal>);
cloudI->resize(iter->second->size());
for(unsigned int i=0; i<cloudI->size(); ++i)
if(_ui->spinBox_normalKSearch->value()<=0 && _ui->doubleSpinBox_normalRadiusSearch->value()<=0.0)
{
cloudI->points[i].x = iter->second->points[i].x;
cloudI->points[i].y = iter->second->points[i].y;
cloudI->points[i].z = iter->second->points[i].z;
cloudI->points[i].normal_x = iter->second->points[i].normal_x;
cloudI->points[i].normal_y = iter->second->points[i].normal_y;
cloudI->points[i].normal_z = iter->second->points[i].normal_z;
cloudI->points[i].curvature = iter->second->points[i].curvature;
int * intensity = (int *)&cloudI->points[i].intensity;
*intensity =
int(iter->second->points[i].r) |
int(iter->second->points[i].g) << 8 |
int(iter->second->points[i].b) << 16 |
int(iter->second->points[i].a) << 24;
// remove normals if not used
pcl::PointCloud<pcl::PointXYZI>::Ptr cloudIWithoutNormals(new pcl::PointCloud<pcl::PointXYZI>);
cloudIWithoutNormals->resize(iter->second->size());
for(unsigned int i=0; i<cloudIWithoutNormals->size(); ++i)
{
cloudIWithoutNormals->points[i].x = iter->second->points[i].x;
cloudIWithoutNormals->points[i].y = iter->second->points[i].y;
cloudIWithoutNormals->points[i].z = iter->second->points[i].z;
int * intensity = (int *)&cloudIWithoutNormals->points[i].intensity;
*intensity =
int(iter->second->points[i].r) |
int(iter->second->points[i].g) << 8 |
int(iter->second->points[i].b) << 16 |
int(iter->second->points[i].a) << 24;
}
viewer->addCloud(uFormat("cloud%d",iter->first), cloudIWithoutNormals, iter->first>0?poses.at(iter->first):Transform::getIdentity());
}
else
{
pcl::PointCloud<pcl::PointXYZINormal>::Ptr cloudI(new pcl::PointCloud<pcl::PointXYZINormal>);
cloudI->resize(iter->second->size());
for(unsigned int i=0; i<cloudI->size(); ++i)
{
cloudI->points[i].x = iter->second->points[i].x;
cloudI->points[i].y = iter->second->points[i].y;
cloudI->points[i].z = iter->second->points[i].z;
cloudI->points[i].normal_x = iter->second->points[i].normal_x;
cloudI->points[i].normal_y = iter->second->points[i].normal_y;
cloudI->points[i].normal_z = iter->second->points[i].normal_z;
cloudI->points[i].curvature = iter->second->points[i].curvature;
int * intensity = (int *)&cloudI->points[i].intensity;
*intensity =
int(iter->second->points[i].r) |
int(iter->second->points[i].g) << 8 |
int(iter->second->points[i].b) << 16 |
int(iter->second->points[i].a) << 24;
}
viewer->addCloud(uFormat("cloud%d",iter->first), cloudI, iter->first>0?poses.at(iter->first):Transform::getIdentity());
}
viewer->addCloud(uFormat("cloud%d",iter->first), cloudI, iter->first>0?poses.at(iter->first):Transform::getIdentity());
}
else
{