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ExportClouds: Fixed exported intensity values (packing/unpacking full float intensity value, not assuming 0-100 like before)

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matlabbe
2019-09-24 15:46:35 -04:00
parent ae374f134b
commit cf1997804f
2 changed files with 41 additions and 9 deletions
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15
corelib/src/util3d.cpp
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@@ -2487,9 +2487,13 @@ pcl::PointXYZRGB laserScanToPointRGB(const LaserScan & laserScan, int index, uns
}
else if(laserScan.hasIntensity())
{
// based on Velodyne/SICK specification of intensity 0-100
// package intensity float -> rgba
int * ptrInt = (int*)ptr;
int indexIntensity = laserScan.getIntensityOffset();
output.b = output.g = output.r = (unsigned char)ptr[indexIntensity];
output.r = (unsigned char)(ptrInt[indexIntensity] & 0xFF);
output.g = (unsigned char)((ptrInt[indexIntensity] >> 8) & 0xFF);
output.b = (unsigned char)((ptrInt[indexIntensity] >> 16) & 0xFF);
output.a = (unsigned char)((ptrInt[indexIntensity] >> 24) & 0xFF);
}
else
{
@@ -2547,9 +2551,12 @@ pcl::PointXYZRGBNormal laserScanToPointRGBNormal(const LaserScan & laserScan, in
}
else if(laserScan.hasIntensity())
{
// based on Velodyne/SICK specification of intensity 0-100
int * ptrInt = (int*)ptr;
int indexIntensity = laserScan.getIntensityOffset();
output.b = output.g = output.r = (unsigned char)ptr[indexIntensity];
output.r = (unsigned char)(ptrInt[indexIntensity] & 0xFF);
output.g = (unsigned char)((ptrInt[indexIntensity] >> 8) & 0xFF);
output.b = (unsigned char)((ptrInt[indexIntensity] >> 16) & 0xFF);
output.a = (unsigned char)((ptrInt[indexIntensity] >> 24) & 0xFF);
}
else
{