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0.16.1: Added LaserScan class with new "format" field to distinguish easier between all kind of laser scans (XYZ, XYZRGB, XYZI, XYZNormal...)

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This commit is contained in:
matlabbe
2018-02-16 19:20:54 -05:00
parent bfb3a58c01
commit d24097f73d
49 changed files with 2097 additions and 998 deletions
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corelib/src/CameraThread.cpp
+4 -2
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@@ -325,7 +325,7 @@ void CameraThread::postUpdate(SensorData * dataPtr, CameraInfo * info) const
!data.depthRaw().empty())
{
UDEBUG("");
if(data.laserScanRaw().empty())
if(data.laserScanRaw().size())
{
UASSERT(_scanDecimation >= 1);
UTimer timer;
@@ -339,6 +339,7 @@ void CameraThread::postUpdate(SensorData * dataPtr, CameraInfo * info) const
float maxPoints = (data.depthRaw().rows/_scanDecimation)*(data.depthRaw().cols/_scanDecimation);
cv::Mat scan;
const Transform & baseToScan = data.cameraModels()[0].localTransform();
LaserScan::Format format = LaserScan::kXYZRGB;
if(validIndices->size())
{
if(_scanVoxelSize>0.0f)
@@ -363,6 +364,7 @@ void CameraThread::postUpdate(SensorData * dataPtr, CameraInfo * info) const
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloudNormals(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
pcl::concatenateFields(*cloud, *normals, *cloudNormals);
scan = util3d::laserScanFromPointCloud(*cloudNormals, baseToScan.inverse());
format = LaserScan::kXYZRGBNormal;
}
else
{
@@ -370,7 +372,7 @@ void CameraThread::postUpdate(SensorData * dataPtr, CameraInfo * info) const
}
}
}
data.setLaserScanRaw(scan, LaserScanInfo((int)maxPoints, _scanMaxDepth, baseToScan));
data.setLaserScanRaw(LaserScan(scan, (int)maxPoints, _scanMaxDepth, format, baseToScan));
if(info) info->timeScanFromDepth = timer.ticks();
}
else