i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-14 23:40:20 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
This commit is contained in:
matlabbe
2019-09-24 15:46:35 -04:00
parent ae374f134b
commit cf1997804f
2 changed files with 41 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/util3d.cpp
+11 -4
View File
@@ -2487,9 +2487,13 @@ pcl::PointXYZRGB laserScanToPointRGB(const LaserScan & laserScan, int index, uns
} }
else if(laserScan.hasIntensity()) 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(); 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 else
{ {
@@ -2547,9 +2551,12 @@ pcl::PointXYZRGBNormal laserScanToPointRGBNormal(const LaserScan & laserScan, in
} }
else if(laserScan.hasIntensity()) else if(laserScan.hasIntensity())
{ {
// based on Velodyne/SICK specification of intensity 0-100 int * ptrInt = (int*)ptr;
int indexIntensity = laserScan.getIntensityOffset(); 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 else
{ {
guilib/src/ExportCloudsDialog.cpp
+30 -5
View File
@@ -1222,7 +1222,12 @@ void ExportCloudsDialog::viewClouds(
cloudI->points[i].normal_y = iter->second->points[i].normal_y; 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].normal_z = iter->second->points[i].normal_z;
cloudI->points[i].curvature = iter->second->points[i].curvature; 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()); 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_y = clouds.begin()->second->points[i].normal_y;
cloudIWithNormals->points[i].normal_z = clouds.begin()->second->points[i].normal_z; 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].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 else
@@ -3334,7 +3344,12 @@ void ExportCloudsDialog::saveClouds(
cloudIWithoutNormals->points[i].x = clouds.begin()->second->points[i].x; cloudIWithoutNormals->points[i].x = clouds.begin()->second->points[i].x;
cloudIWithoutNormals->points[i].y = clouds.begin()->second->points[i].y; cloudIWithoutNormals->points[i].y = clouds.begin()->second->points[i].y;
cloudIWithoutNormals->points[i].z = clouds.begin()->second->points[i].z; 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_y = transformedCloud->points[i].normal_y;
cloudIWithNormals->points[i].normal_z = transformedCloud->points[i].normal_z; cloudIWithNormals->points[i].normal_z = transformedCloud->points[i].normal_z;
cloudIWithNormals->points[i].curvature = transformedCloud->points[i].curvature; 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 else
@@ -3468,7 +3488,12 @@ void ExportCloudsDialog::saveClouds(
cloudIWithoutNormals->points[i].x = transformedCloud->points[i].x; cloudIWithoutNormals->points[i].x = transformedCloud->points[i].x;
cloudIWithoutNormals->points[i].y = transformedCloud->points[i].y; cloudIWithoutNormals->points[i].y = transformedCloud->points[i].y;
cloudIWithoutNormals->points[i].z = transformedCloud->points[i].z; 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;
} }
} }
} }