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Modified code for exporting eval pcd #20

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Modified code for exporting eval pcd #20

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466fd52
modified code for exporting eval pcd
dongjae0107 Aug 17, 2024
66342b7
found some errors and fixed it
dongjae0107 Aug 17, 2024
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29 changes: 25 additions & 4 deletions scripts/cpp/export_eval_pcd.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -73,12 +73,33 @@ int main(int argc, char** argv) {
// if the nearest point in et_cloud for gt is too far, then this gt point is not in the et_cloud
// which means mark as dynamic since et_cloud remove this one.
if (kdtree.nearestKSearch(point, 1, nearest_indices, nearest_distances) > 0) {
float distance = std::sqrt(nearest_distances[0]);
if (distance > min_dis_cnt_as_same) {
point.intensity = 1;
} else {
// Revised Code
auto point_et = et_cloud->points[nearest_indices[0]];
pcl::PointXYZI left_bottom_corner = point_et;
left_bottom_corner.x -= min_dis_cnt_as_same;
left_bottom_corner.y -= min_dis_cnt_as_same;
left_bottom_corner.z -= min_dis_cnt_as_same;

pcl::PointXYZI right_top_corner = point_et;
right_top_corner.x += min_dis_cnt_as_same;
right_top_corner.y += min_dis_cnt_as_same;
right_top_corner.z += min_dis_cnt_as_same;

if ((point.x >= left_bottom_corner.x && point.x <= right_top_corner.x) &&
(point.y >= left_bottom_corner.y && point.y <= right_top_corner.y) &&
(point.z >= left_bottom_corner.z && point.z <= right_top_corner.z)) {
point.intensity = 0;
} else {
point.intensity = 1;
}

// Original Code
// float distance = std::sqrt(nearest_distances[0]);
// if (distance > min_dis_cnt_as_same) {
// point.intensity = 1;
// } else {
// point.intensity = 0;
// }
} else {
std::cout << "Search failed" << std::endl;
}
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