WriteData3DGroupsData
dagata-mining opened this issue · 4 comments
dagata-mining commented
Hi,
Im trying to write a code in order to write PCL->E57.
However there's no example on this API. I've been stuck the last couple of days..
I'm getting segment fault on : SetUpData3DPointsData() and I' having a hard time to understand the WriteData3DGroupsData() Parameters
Here's my code for now:
int saveE57File(
const std::string & filePath,
const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud
)
{
// Creating the Writer Object from e57
e57::Writer convert((e57::ustring(filePath)));
const bool isOpen = convert.IsOpen();
// Creating the header for the 3D data for e57
e57::Data3D data3DHeader = data3DGenerator(cloud);
int64_t indexHeader = convert.NewData3D(data3DHeader);
// Creating the buffer for writing the points in e5
e57::Data3DPointsData bufferCloud;
uint32_t h = cloud.size();
bufferCloud.cartesianX = new float[h];
bufferCloud.cartesianY = new float[h];
bufferCloud.cartesianZ = new float[h];
for(size_t i=0; i<cloud.size(); ++i)
{
bufferCloud.cartesianX [i] = cloud.at(i).x;
bufferCloud.cartesianY [i] = cloud.at(i).y;
bufferCloud.cartesianZ [i] = cloud.at(i).z;
i++;
}
convert.SetUpData3DPointsData(indexHeader, h, bufferCloud);
delete[] bufferCloud.cartesianX;
delete[] bufferCloud.cartesianY;
delete[] bufferCloud.cartesianZ;
//Writing the data to the file
bool success = convert.WriteData3DGroupsData(indexHeader, 1, 0, 0,h);
UERROR("Here 5");
if (!success) {
UERROR("E57: Could not successfully convert point clod to E57 format");
return 1;
} else {
UERROR("E57: File was written successfully to \"%s\"", filePath.c_str());
return 0;
}
}
e57::Data3D data3DGenerator(const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud,
bool hasRGB,
bool hasIntensity,
bool hasNormals
)
{
// Defining Data 3D header
e57::Data3D pointCloud;
pointCloud.name = e57::ustring("Point Laz data");
pointCloud.description = e57::ustring("An E57 format of data from Point Laz data that uses 2D images and 3D PointCloud");
pointCloud.sensorVendor = e57::ustring("Lazaruss & XT & 319 Alvium");
pointCloud.sensorModel = e57::ustring("Point Laz & Hesai & Allied Vision");
pointCloud.sensorFirmwareVersion = e57::ustring("1.5");
pointCloud.sensorHardwareVersion = e57::ustring("1.5");
pointCloud.sensorSoftwareVersion = e57::ustring("1.0");
pointCloud.sensorSerialNumber = e57::ustring("1");
pointCloud.temperature=25.0f;
pointCloud.atmosphericPressure=101.3f;
pointCloud.relativeHumidity=50.0f;
e57::DateTime start;
e57::DateTime end;
start.dateTimeValue=1633208100;
end.dateTimeValue=1633208400;
pointCloud.acquisitionStart=start;
pointCloud.acquisitionEnd=end;
e57::RigidBodyTransform pose;
pointCloud.pose = e57::RigidBodyTransform::identity();
e57::IndexBounds indexBounds;
indexBounds.columnMaximum = (int64_t)cloud.width;
indexBounds.rowMaximum = (int64_t)cloud.height;
pointCloud.indexBounds=indexBounds;
e57::CartesianBounds cartesianBounds;
pcl::PointXYZRGBNormal minPt, maxPt;
pcl::getMinMax3D (cloud, minPt, maxPt);
cartesianBounds.xMinimum = minPt.x;
cartesianBounds.yMinimum = minPt.y;
cartesianBounds.zMinimum = minPt.z;
cartesianBounds.xMaximum = maxPt.x;
cartesianBounds.yMaximum = maxPt.y;
cartesianBounds.zMaximum = maxPt.z;
pointCloud.cartesianBounds=cartesianBounds;
e57::IntensityLimits intensityLimits;
intensityLimits.intensityMaximum= 255.0;
intensityLimits.intensityMinimum= 0.;
pointCloud.intensityLimits=intensityLimits;
e57::ColorLimits colorLimits;
colorLimits.colorRedMaximum = 255.0;
colorLimits.colorGreenMaximum = 255.0;
colorLimits.colorBlueMaximum = 255.0;
colorLimits.colorRedMinimum = 0.;
colorLimits.colorGreenMinimum = 0.;
colorLimits.colorBlueMinimum = 0.;
pointCloud.colorLimits=colorLimits;
e57::PointStandardizedFieldsAvailable standardFields;
standardFields.cartesianXField = true;
standardFields.cartesianYField = true;
standardFields.cartesianZField = true;
standardFields.normalX = false;
standardFields.normalY = false;
standardFields.normalZ = false;
standardFields.intensityField = false;
standardFields.colorRedField = false;
standardFields.colorGreenField = false;
standardFields.colorBlueField = false;
if (hasIntensity)
{
standardFields.intensityField = true;
}
else if (hasRGB)
{
standardFields.colorRedField = true;
standardFields.colorGreenField = true;
standardFields.colorBlueField = true;
}
if (hasNormals)
{
standardFields.normalX = true;
standardFields.normalY = true;
standardFields.normalZ = true;
}
pointCloud.pointFields = standardFields;
return pointCloud;
}(Edited by @asmaloney to format code properly)
asmaloney commented
As I mentioned over here, you should be able to wrap your calls in try/catch to get more info about what's failing and why.
That (and a debugger) should at least get you started to help figure out the crash.
dagata-mining commented
Thanks, much appreciated.
Hadn't seen this issue, helps alot.
But examples would really help. I know you got a pr regarding that, hope it will be there soon for the future users. Anyway great repo btw... I'll post my code when its running properly!
dagata-mining commented
For Anyone Outhere wondering how to convert PCL to E57 here's an example that worked for me:
int saveE57File(
const std::string & filePath,
const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud
)
{
// Creating the Writer Object from e57
e57::Writer convert((e57::ustring(filePath)));
// Creating the header for the 3D data for e57
e57::Data3D data3DHeader = data3DGenerator(cloud,false,false,false);
int64_t indexHeader = convert.NewData3D(data3DHeader);
// Creating the buffer for writing the points in e5
e57::Data3DPointsData bufferCloud;
uint32_t h = cloud.size();
bufferCloud.cartesianX = new float[h];
bufferCloud.cartesianY = new float[h];
bufferCloud.cartesianZ = new float[h];
for(size_t i=0; i<cloud.size(); ++i)
{
bufferCloud.cartesianX [i] = cloud.points[i].x;
bufferCloud.cartesianY [i] = cloud.points[i].y;
bufferCloud.cartesianZ [i] = cloud.points[i].z;
}
e57::CompressedVectorWriter dataWriter = convert.SetUpData3DPointsData(indexHeader, h, bufferCloud);
try {
dataWriter.write(h);
}
catch ( e57::E57Exception &err )
{
UERROR( "Function:\"%s\" In:\"%s\" Line:\"%i\" Context:\"%s\"",err.sourceFunctionName(), err.sourceFileName(), err.sourceLineNumber(), err.context().c_str());
UERROR("E57: Could not successfully convert point cloud to E57 format");
return 1;
}
dataWriter.close();
convert.Close();
delete bufferCloud.cartesianX;
delete bufferCloud.cartesianY;
delete bufferCloud.cartesianZ;
UINFO("E57: File was written successfully to \"%s\"", filePath.c_str());
return 0;
}
e57::Data3D data3DGenerator(const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud,
bool hasRGB,
bool hasIntensity,
bool hasNormals
)
{
// Defining Data 3D header
e57::Data3D pointCloud;
pointCloud.name = e57::ustring("Point Laz data");
pointCloud.description = e57::ustring("An E57 format of data from Point Laz data that uses 2D images and 3D PointCloud");
pointCloud.pointsSize = cloud.size();
pointCloud.sensorVendor = e57::ustring("Lazaruss & XT & 319 Alvium");
pointCloud.sensorModel = e57::ustring("Point Laz & Hesai & Allied Vision");
pointCloud.sensorFirmwareVersion = e57::ustring("1.5");
pointCloud.sensorHardwareVersion = e57::ustring("1.5");
pointCloud.sensorSoftwareVersion = e57::ustring("1.0");
pointCloud.sensorSerialNumber = e57::ustring("1");
e57::PointStandardizedFieldsAvailable standardFields;
standardFields.cartesianXField = true;
standardFields.cartesianYField = true;
standardFields.cartesianZField = true;
standardFields.normalX = false;
standardFields.normalY = false;
standardFields.normalZ = false;
standardFields.intensityField = false;
standardFields.colorRedField = false;
standardFields.colorGreenField = false;
standardFields.colorBlueField = false;
if (hasIntensity)
{
standardFields.intensityField = true;
}
else if (hasRGB)
{
standardFields.colorRedField = true;
standardFields.colorGreenField = true;
standardFields.colorBlueField = true;
}
if (hasNormals)
{
standardFields.normalX = true;
standardFields.normalY = true;
standardFields.normalZ = true;
}
pointCloud.pointFields = standardFields;
return pointCloud;
}(Edited by @asmaloney to format code properly)
asmaloney commented
Thanks @dagata-mining!