Add method which converts a pointcloud into an octree. #4608
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viambot
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safe to test
@JohnN193 I will add :) |
pointcloud/pointcloud_utils.go
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| @@ -91,3 +91,22 @@ func StatisticalOutlierFilter(meanK int, stdDevThresh float64) (func(PointCloud) | |||
| } | |||
| return filterFunc, nil | |||
| } | |||
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| // PointCloudToBasicOctree takes a pointcloud object and converts it into an octree. | |||
| func PointCloudToBasicOctree(cloud PointCloud) (*BasicOctree, error) { | |||
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If cloud is already a BasicOctree, we should return that directly instead of copying
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seems that is is not.
return utils.AssertType[*BasicOctree](cloud)
gives error
expected *pointcloud.BasicOctree but got *pointcloud.basicPointCloud
Unless, I am completely mis-understanding this comment.
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octrees still satify the pointcloud interface iirc, so a user could call this function with something thats already an octree.
if we realize that we have an octree already, then we should just return it
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That would be because you passed in a basicPointCloud.
You should not be returning AssertType directly, only if the err is nil.
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PointCloud is an interface type -- there are many structs that fulfill the PointCloud interface. You should do a type assertion to see if the cloud passed is already of the BasicOctree Type, and return it if it is.
This isn't just for your use case, but a check so that all future users can ensure they're not accidently passing in a pointcloud that already an OctTree type
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if octTree, ok := cloud.(*BasicOctree); ok {
return octTree, nil
}
…e which returns an octree populated with either positive or negative data
viambot
added
safe to test
viambot
added
safe to test
viambot
added
safe to test
viambot
added
safe to test
We already have the ReadPCDToBasicOctree method. However in order to use it on a pointcloud.PointCloud object, a user first needs to convert it into a PCD file and only then are they able to use the mentioned method. This is not an optimal route.
The goal of this PR is to add a function which removes the step of converting a pointcloud into a file.