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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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35
guilib/src/ExportCloudsDialog.cpp
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@@ -1222,7 +1222,12 @@ void ExportCloudsDialog::viewClouds(
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;
cloudI->points[i].intensity = (float)iter->second->points[i].r;
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());
}
@@ -3322,7 +3327,12 @@ void ExportCloudsDialog::saveClouds(
cloudIWithNormals->points[i].normal_y = clouds.begin()->second->points[i].normal_y;
cloudIWithNormals->points[i].normal_z = clouds.begin()->second->points[i].normal_z;
cloudIWithNormals->points[i].curvature = clouds.begin()->second->points[i].curvature;
cloudIWithNormals->points[i].intensity = (float)clouds.begin()->second->points[i].r;
int * intensity = (int *)&cloudIWithNormals->points[i].intensity;
*intensity =
int(clouds.begin()->second->points[i].r) |
int(clouds.begin()->second->points[i].g) << 8 |
int(clouds.begin()->second->points[i].b) << 16 |
int(clouds.begin()->second->points[i].a) << 24;
}
}
else
@@ -3334,7 +3344,12 @@ void ExportCloudsDialog::saveClouds(
cloudIWithoutNormals->points[i].x = clouds.begin()->second->points[i].x;
cloudIWithoutNormals->points[i].y = clouds.begin()->second->points[i].y;
cloudIWithoutNormals->points[i].z = clouds.begin()->second->points[i].z;
cloudIWithoutNormals->points[i].intensity = (float)clouds.begin()->second->points[i].r;
int * intensity = (int *)&cloudIWithoutNormals->points[i].intensity;
*intensity =
int(clouds.begin()->second->points[i].r) |
int(clouds.begin()->second->points[i].g) << 8 |
int(clouds.begin()->second->points[i].b) << 16 |
int(clouds.begin()->second->points[i].a) << 24;
}
}
}
@@ -3456,7 +3471,12 @@ void ExportCloudsDialog::saveClouds(
cloudIWithNormals->points[i].normal_y = transformedCloud->points[i].normal_y;
cloudIWithNormals->points[i].normal_z = transformedCloud->points[i].normal_z;
cloudIWithNormals->points[i].curvature = transformedCloud->points[i].curvature;
cloudIWithNormals->points[i].intensity = (float)transformedCloud->points[i].r;
int * intensity = (int *)&cloudIWithNormals->points[i].intensity;
*intensity =
int(transformedCloud->points[i].r) |
int(transformedCloud->points[i].g) << 8 |
int(transformedCloud->points[i].b) << 16 |
int(transformedCloud->points[i].a) << 24;
}
}
else
@@ -3468,7 +3488,12 @@ void ExportCloudsDialog::saveClouds(
cloudIWithoutNormals->points[i].x = transformedCloud->points[i].x;
cloudIWithoutNormals->points[i].y = transformedCloud->points[i].y;
cloudIWithoutNormals->points[i].z = transformedCloud->points[i].z;
cloudIWithoutNormals->points[i].intensity = (float)transformedCloud->points[i].r;
int * intensity = (int *)&cloudIWithoutNormals->points[i].intensity;
*intensity =
int(transformedCloud->points[i].r) |
int(transformedCloud->points[i].g) << 8 |
int(transformedCloud->points[i].b) << 16 |
int(transformedCloud->points[i].a) << 24;
}
}
}