kindred/create
1
1
Fork 0
Code Issues 37 Pull Requests Actions Packages Projects 9 Releases 2 Wiki Activity

Points: fixes #7924: Pointcloud import anomalies

Browse Source
This commit is contained in:
wmayer
2022-12-21 13:05:16 +01:00
parent d91edafa62
commit f0a4ec8240
1 changed files with 29 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

29
src/Mod/Points/App/PointsAlgos.cpp
View File

@@ -1331,6 +1331,32 @@ void E57Reader::read(const std::string& filename)
e57::VectorNode data3D(root.get("data3D"));
for (int child = 0; child < data3D.childCount(); ++child) {
e57::StructureNode scan_data(data3D.get(child));
Base::Placement plm;
bool hasPlacement{false};
if (scan_data.isDefined("pose")) {
e57::StructureNode pose(scan_data.get("pose"));
if (pose.isDefined("rotation")) {
e57::StructureNode rotNode(pose.get("rotation"));
double quaternion[4];
quaternion[0] = e57::FloatNode(rotNode.get("x")).value();
quaternion[1] = e57::FloatNode(rotNode.get("y")).value();
quaternion[2] = e57::FloatNode(rotNode.get("z")).value();
quaternion[3] = e57::FloatNode(rotNode.get("w")).value();
Base::Rotation rotate(quaternion);
plm.setRotation(rotate);
hasPlacement = true;
}
if (pose.isDefined("translation")) {
Base::Vector3d move;
e57::StructureNode transNode(pose.get("translation"));
move.x = e57::FloatNode(transNode.get("x")).value();
move.y = e57::FloatNode(transNode.get("y")).value();
move.z = e57::FloatNode(transNode.get("z")).value();
plm.setPosition(move);
hasPlacement = true;
}
}
e57::CompressedVectorNode cvn(scan_data.get("points"));
e57::StructureNode prototype(cvn.prototype());
// create buffers for the compressed vector reader
@@ -1496,6 +1522,9 @@ void E57Reader::read(const std::string& filename)
pt.x = xyz[ptr_xyz[0] * buf_size + i];
pt.y = xyz[ptr_xyz[1] * buf_size + i];
pt.z = xyz[ptr_xyz[2] * buf_size + i];
if (hasPlacement) {
plm.multVec(pt, pt);
}
if ((!filter) && (cnt_pts > 0)) {
if (Base::Distance(last, pt) < minDistance) {
filter = true;