Addapted PointCloud to both Lidars

LibCarla/source/carla/pointcloud/PointCloudIO.cpp

@@ -1,30 +0,0 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
-// de Barcelona (UAB).
-//
-// This work is licensed under the terms of the MIT license.
-// For a copy, see <https://opensource.org/licenses/MIT>.
-
-#include "carla/pointcloud/PointCloudIO.h"
-
-#include <iomanip>
-
-namespace carla {
-namespace pointcloud {
-
-  void PointCloudIO::WriteHeader(std::ostream &out, size_t number_of_points) {
-    out << "ply\n"
-           "format ascii 1.0\n"
-           "element vertex " << std::to_string(number_of_points) << "\n"
-           "property float32 x\n"
-           "property float32 y\n"
-           "property float32 z\n"
-           "property float32 I\n"
-           // "property uchar diffuse_red\n"
-           // "property uchar diffuse_green\n"
-           // "property uchar diffuse_blue\n"
-           "end_header\n";
-    out << std::fixed << std::setprecision(4u);
-  }
-
-} // namespace pointcloud
-} // namespace carla

LibCarla/source/carla/pointcloud/PointCloudIO.h

@@ -10,19 +10,20 @@
 
 #include <fstream>
 #include <iterator>
+#include <iomanip>
 
 namespace carla {
 namespace pointcloud {
 
   class PointCloudIO {
-  public:
 
+  public:
     template <typename PointIt>
     static void Dump(std::ostream &out, PointIt begin, PointIt end) {
-      DEBUG_ASSERT(std::distance(begin, end) >= 0);
+      WriteHeader(out, begin, end);
-      WriteHeader(out, static_cast<size_t>(std::distance(begin, end)));
       for (; begin != end; ++begin) {
-        out << begin->point.x << ' ' << begin->point.y << ' ' << begin->point.z <<  ' ' << begin->intensity << '\n';
+        begin->WriteDetection(out);
+        out << '\n';
       }
     }
 
@@ -35,8 +36,15 @@ namespace pointcloud {
     }
 
   private:
-
+    template <typename PointIt> static void WriteHeader(std::ostream &out, PointIt begin, PointIt end) {
-    static void WriteHeader(std::ostream &out, size_t number_of_points);
+      DEBUG_ASSERT(std::distance(begin, end) >= 0);
+      out << "ply\n"
+           "format ascii 1.0\n"
+           "element vertex " << std::to_string(static_cast<size_t>(std::distance(begin, end))) << "\n";
+      begin->WritePlyHeaderInfo(out);
+      out << "end_header\n";
+      out << std::fixed << std::setprecision(4u);
+    }
   };
 
 } // namespace pointcloud