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fixes for export las #946

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Merged
merged 1 commit into from
Feb 9, 2023
Merged

fixes for export las #946

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2 changes: 1 addition & 1 deletion src/3rdParty/_PCL/_PCL.jl
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Expand Up @@ -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
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12 changes: 6 additions & 6 deletions src/3rdParty/_PCL/services/LasIOSupport.jl
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Expand Up @@ -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(
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2 changes: 1 addition & 1 deletion src/3rdParty/_PCL/services/PointCloudUtils.jl
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Expand Up @@ -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)
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