E57 did not use MM as unit

[dogod621]

E57 use meters as unit (You can check the translation value of pose data.).
But cartesianX, cartesianY, cartesianZ are "ScaledIntegerNode",
so you should scale the values.

for example , I got my E57 data from BLK360 scanner.
scaleX, scaleY, scaleZ of following Example code is 1e-5.
after multiply the scale, the final XYZ is in meters. ( And then it can match the pose translation )

Example:
e57::CompressedVectorNode scanPoints(scan.get("points"));
e57::StructureNode proto(scanPoints.prototype());
e57::ScaledIntegerNode protoX(proto.get("cartesianX"));
e57::ScaledIntegerNode protoY(proto.get("cartesianY"));
e57::ScaledIntegerNode protoZ(proto.get("cartesianZ"));

double scaleX = protoX.scale();
double scaleY = protoY.scale();
double scaleZ = protoZ.scale();

[madduci]

Hi,

thanks for the issue. Actually I don't deal anymore with E57 data, so I don't have any dataset to test with, to verify if also my data is in meters or not.
Would you mind to submit the correction as pull request?

[dogod621]

here is the free dataset: https://lasers.leica-geosystems.com/blk360-data-set-downloads
your code didnot scale xyz correctly, so it will failed when combine multiple scan to a single point cloud (the pose translation did not match).

by the way, why not read rgb data from e57 ( to pcl::PointXYZRGBA )

[dogod621]

https://github.com/dogod621/E57Converter

Hi, I write a new E57 converter. I fix the issue, and further:

1. support out-of-core (for large e57 scan data)
2. support scaled integer XYZ
3. support spherical coordinate
4. support perpoint RGB, intensity, scan index

[madduci]

Hi @dogod621
thanks for the inputs!

As I developed it on my own time ago, I haven't used OutOfCore because I had only the possibility to test with smaller point clouds and I was using Intensity instead of RGB because my original dataset wasn't with RGB information, therefore I used the XYZI format.

Anyway thanks for the inputs, I will try to fix my code as soon as I can but I will accept happily merge requests

[dogod621]

@madduci I found the correct way to read scaled integer....

asmaloney/libE57Format#16

jean-noelp:
when you build your SourceDestBuffer, ensure to activate the auto-scaling on cartesian values!
vector destBuffers;
double x[N]; destBuffers.push_back(SourceDestBuffer(imf, "cartesianX", x, N, true, true));
double y[N]; destBuffers.push_back(SourceDestBuffer(imf, "cartesianY", y, N, true, true));
double z[N]; destBuffers.push_back(SourceDestBuffer(imf, "cartesianZ", z, N, true, true));

[madduci]

Hi @dogod621 thank you very much for the hint. I'm doing (slowly) a refactoring of code supporting newer PCL and newer C++ standard