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Intensities from Lidar PointCloud2 topic into the generated PCD #1762

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Intensities from Lidar PointCloud2 topic into the generated PCD #1762

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7cf62b3
Intensities from Lidar topic into the generated PCD
ikhann Oct 14, 2020
e96598c
Merge branch 'master' into master
wohe Oct 15, 2020
6fab93e
Update pcd_writing_points_processor.cc
ikhann Oct 15, 2020
8bfb644
Merge branch 'master' into master
wohe Oct 16, 2020
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42 changes: 30 additions & 12 deletions cartographer/io/pcd_writing_points_processor.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -32,20 +32,25 @@ namespace {

// Writes the PCD header claiming 'num_points' will follow it into
// 'output_file'.
void WriteBinaryPcdHeader(const bool has_color, const int64 num_points,
FileWriter* const file_writer) {
std::string color_header_field = !has_color ? "" : " rgb";
std::string color_header_type = !has_color ? "" : " U";
std::string color_header_size = !has_color ? "" : " 4";
std::string color_header_count = !has_color ? "" : " 1";
void WriteBinaryPcdHeader(const bool has_color, const bool has_intensities,
const int64 num_points, FileWriter* const file_writer) {
const std::string color_header_field = !has_color ? "" : " rgb";
const std::string color_header_type = !has_color ? "" : " U";
const std::string color_header_size = !has_color ? "" : " 4";
const std::string color_header_count = !has_color ? "" : " 1";

const std::string intensity_header_field = !has_intensities ? "" : " intensity";
const std::string intensity_header_type = !has_intensities ? "" : " F";
const std::string intensity_header_size = !has_intensities ? "" : " 4";
const std::string intensity_header_count = !has_intensities ? "" : " 1";

std::ostringstream stream;
stream << "# generated by Cartographer\n"
<< "VERSION .7\n"
<< "FIELDS x y z" << color_header_field << "\n"
<< "SIZE 4 4 4" << color_header_size << "\n"
<< "TYPE F F F" << color_header_type << "\n"
<< "COUNT 1 1 1" << color_header_count << "\n"
<< "FIELDS x y z" << intensity_header_field << color_header_field <<"\n"
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Any reason why the ordering between color and intensity is swapped here compared to above for arguments? Some consistency would be nice.

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The order is not important.

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You mean not important for correctness, but this is setting the bar too low. Please have a look at https://google.github.io/styleguide/cppguide.html#Goals. Inconsistencies should be there for a reason, not consistency. If you aim for readable code everyone who later reads the code, including yourself, has an easier time.

<< "SIZE 4 4 4" << intensity_header_size << color_header_size << "\n"
<< "TYPE F F F" << intensity_header_type << color_header_type << "\n"
<< "COUNT 1 1 1" << intensity_header_count << color_header_count << "\n"
<< "WIDTH " << std::setw(15) << std::setfill('0') << num_points << "\n"
<< "HEIGHT 1\n"
<< "VIEWPOINT 0 0 0 1 0 0 0\n"
Expand All @@ -65,6 +70,13 @@ void WriteBinaryPcdPointCoordinate(const Eigen::Vector3f& point,
CHECK(file_writer->Write(buffer, 12));
}

void WriteBinaryPcdIntensity(const float intensity,
FileWriter* const file_writer) {
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nit: you should run clang-format.

char buffer[4];
memcpy(buffer, &intensity, sizeof(float));
CHECK(file_writer->Write(buffer, 4));
}

void WriteBinaryPcdPointColor(const Uint8Color& color,
FileWriter* const file_writer) {
char buffer[4];
Expand All @@ -91,10 +103,11 @@ PcdWritingPointsProcessor::PcdWritingPointsProcessor(
: next_(next),
num_points_(0),
has_colors_(false),
has_intensities_(false),
file_writer_(std::move(file_writer)) {}

PointsProcessor::FlushResult PcdWritingPointsProcessor::Flush() {
WriteBinaryPcdHeader(has_colors_, num_points_, file_writer_.get());
WriteBinaryPcdHeader(has_colors_, has_intensities_, num_points_, file_writer_.get());
CHECK(file_writer_->Close());

switch (next_->Flush()) {
Expand All @@ -116,7 +129,8 @@ void PcdWritingPointsProcessor::Process(std::unique_ptr<PointsBatch> batch) {

if (num_points_ == 0) {
has_colors_ = !batch->colors.empty();
WriteBinaryPcdHeader(has_colors_, 0, file_writer_.get());
has_intensities_ = !batch->intensities.empty();
WriteBinaryPcdHeader(has_colors_, has_intensities_, 0, file_writer_.get());
}
for (size_t i = 0; i < batch->points.size(); ++i) {
WriteBinaryPcdPointCoordinate(batch->points[i].position,
Expand All @@ -125,6 +139,10 @@ void PcdWritingPointsProcessor::Process(std::unique_ptr<PointsBatch> batch) {
WriteBinaryPcdPointColor(ToUint8Color(batch->colors[i]),
file_writer_.get());
}
if (has_intensities_) {
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Isn't this wrong? Which would be another argument for consistency. In case of both colors and intensities you declare that intensities come first, but here you right them in the wrong order. Or do I misread this?

WriteBinaryPcdIntensity(batch->intensities[i],
file_writer_.get());
}
++num_points_;
}
next_->Process(std::move(batch));
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1 change: 1 addition & 0 deletions cartographer/io/pcd_writing_points_processor.h
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Expand Up @@ -48,6 +48,7 @@ class PcdWritingPointsProcessor : public PointsProcessor {

int64 num_points_;
bool has_colors_;
bool has_intensities_;
std::unique_ptr<FileWriter> file_writer_;
};

Expand Down