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Coloring scan (camera projection on point cloud) (#693)

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* ExportClouds: Added camera projection options

* ExportClouds: fixed ceiling/floor filtering options not saved in config

* ExportClouds: fixed colorless scan points still exported when option is unchecked.

* Export tool: added --bin, --poses, --images, --las and --cam_projection options; export with intensity with --scan option. PDALWriter: added binary option (only used for PLY an PCD formats). Rtabmap: Do graph optimization if neighbor link refined and Mem/UseOdomGravity is used.
This commit is contained in:
matlabbe
2021-03-01 09:56:37 -05:00
committed by GitHub
parent 967c57d165
commit d119487dd7
9 changed files with 1334 additions and 192 deletions
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corelib/include/rtabmap/core/PDALWriter.h
+5 -5
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@@ -35,11 +35,11 @@ namespace rtabmap {
std::string getPDALSupportedWriters();
int savePDALFile(const std::string & filePath, const pcl::PointCloud<pcl::PointXYZ> & cloud);
int savePDALFile(const std::string & filePath, const pcl::PointCloud<pcl::PointXYZRGB> & cloud);
int savePDALFile(const std::string & filePath, const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud);
int savePDALFile(const std::string & filePath, const pcl::PointCloud<pcl::PointXYZI> & cloud);
int savePDALFile(const std::string & filePath, const pcl::PointCloud<pcl::PointXYZINormal> & cloud);
int savePDALFile(const std::string & filePath, const pcl::PointCloud<pcl::PointXYZ> & cloud, const std::vector<int> & cameraIds = std::vector<int>(), bool binary = false);
int savePDALFile(const std::string & filePath, const pcl::PointCloud<pcl::PointXYZRGB> & cloud, const std::vector<int> & cameraIds = std::vector<int>(), bool binary = false);
int savePDALFile(const std::string & filePath, const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud, const std::vector<int> & cameraIds = std::vector<int>(), bool binary = false);
int savePDALFile(const std::string & filePath, const pcl::PointCloud<pcl::PointXYZI> & cloud, const std::vector<int> & cameraIds = std::vector<int>(), bool binary = false);
int savePDALFile(const std::string & filePath, const pcl::PointCloud<pcl::PointXYZINormal> & cloud, const std::vector<int> & cameraIds = std::vector<int>(), bool binary = false);
}