From ac5e3d2c684a14ad963f97fb37e8804e3fe4ae05 Mon Sep 17 00:00:00 2001
From: dehann <dehann.fourie@gmail.com>
Date: Sun, 5 Feb 2023 01:33:48 -0800
Subject: [PATCH] fixes for export las

---
 src/3rdParty/_PCL/_PCL.jl                     |  2 +-
 src/3rdParty/_PCL/services/LasIOSupport.jl    | 12 ++++++------
 src/3rdParty/_PCL/services/PointCloudUtils.jl |  2 +-
 3 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/src/3rdParty/_PCL/_PCL.jl b/src/3rdParty/_PCL/_PCL.jl
index 2fdf4f0a0..18524627a 100644
--- a/src/3rdParty/_PCL/_PCL.jl
+++ b/src/3rdParty/_PCL/_PCL.jl
@@ -7,7 +7,7 @@ module _PCL
 import ..Caesar: _FastTransform3D
 import ..Caesar: homogeneous_coord_to_euler_coord, euler_coord_to_homogeneous_coord, euler_angles_to_linearized_rotation_matrix
 import ..Caesar: _SE3_MANI # create_homogeneous_transformation_matrix
-import ..Caesar: getBelief, mean
+import ..Caesar: getBelief, mean, calcPPE
 
 using FileIO
 using Colors
diff --git a/src/3rdParty/_PCL/services/LasIOSupport.jl b/src/3rdParty/_PCL/services/LasIOSupport.jl
index a8081d68d..488be62ea 100644
--- a/src/3rdParty/_PCL/services/LasIOSupport.jl
+++ b/src/3rdParty/_PCL/services/LasIOSupport.jl
@@ -62,12 +62,12 @@ function saveLAS(
   x_offset = 0.0
   y_offset = 0.0
   z_offset = 0.0
-  x_max = maximum(x) # 7.6900000
-  x_min = minimum(x) # -12.8500000
-  y_max = maximum(y) # 9.9200000
-  y_min = minimum(y) # -10.1800000
-  z_max = maximum(z) # 2.3300000
-  z_min = minimum(z) # 1.8400000
+  x_max = maximum(x)+1 # 7.6900000
+  x_min = minimum(x)-1 # -12.8500000
+  y_max = maximum(y)+1 # 9.9200000
+  y_min = minimum(y)-1 # -10.1800000
+  z_max = maximum(z)+1 # 2.3300000
+  z_min = minimum(z)-1 # 1.8400000
 
   # newHeader = deepcopy(header)
   newHeader = LasHeader(
diff --git a/src/3rdParty/_PCL/services/PointCloudUtils.jl b/src/3rdParty/_PCL/services/PointCloudUtils.jl
index f35ae0678..0dd2173f3 100644
--- a/src/3rdParty/_PCL/services/PointCloudUtils.jl
+++ b/src/3rdParty/_PCL/services/PointCloudUtils.jl
@@ -507,7 +507,7 @@ function exportPointCloudWorld(
       @warn "Skipping $vl which does not have solveKey :parametric"
       continue
     end
-    w_Cwp = calcPPE(v; solveKey).suggested
+    w_Cwp = calcPPE(v; solveKey).suggested # from VariableSolverData
     wPp = Manifolds.exp(M,ϵ0,Manifolds.hat(M,ϵ0,w_Cwp))
     # wPp = getSolverData(v, solveKey).val[1]
     wPC = apply(M, wPp, pc)