convert color and depth image to a pcd file #680
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Hi, this looks like a really nice addition. Can you adopt it to the PCL style guide? https://github.com/PointCloudLibrary/pcl/blob/master/CONTRIBUTING.md#pull-requests |
xiangxw
changed the title
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@jspricke I have modified the commit message to adopt the PCL style guide. Please check it. Or somewhere else not adopted to the guide? Thanks. |
| pixel[0] = image_data->GetScalarComponentAsDouble(x, y, 0, 0); | ||
| for (int x = 0; x < dimensions[0]; x++) | ||
| { | ||
| pixel[0] = color_image_data->GetScalarComponentAsDouble(x, y, 0, 0); |
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Missing a space before the bracket here. (And in the next line).
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I added a few inline comments about missing spaces. Actually there are more of them missing in similar lines, but I stopped in order not to flood, hope you got the point. Also I noticed there are always outer loops over the third dimension: |
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Thanks @taketwo |
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We'll need to squash this in one commit, please see our wiki page in case you are not sure how to do this. |
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Hi, @taketwo commits squashed. |
Use pcl_png2pcd to convert color and depth image to a pcd file. Example: pcl_png2pcd color.png depth.png out.pcd --intensity_type FLOAT Tested with RGB-D dataset from http://rgbd-dataset.cs.washington.edu/dataset/rgbd-scenes
convert color and depth image to a pcd file
I use rgbd dataset from http://rgbd-dataset.cs.washington.edu/dataset/rgbd-scenes/ to test this.
Color image:
Depth image:
Gray image:
Test case 1: color + depth -> pcd(color)
Test case 2: color + depth -> pcd(force gray)
Test case 3: gray + depth -> pcd(gray)
pcl_png2pcd desk_1_10_gray.png desk_1_10_depth.png out.pcd --intensity_type FLOAT
Test case 4: gray + depth -> pcd(force color)