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Actually check that all points are colored or none. (#192)

master
Holger Rapp 2017-01-26 16:49:25 +01:00 committed by GitHub
parent 97bb74157f
commit ddb3c890a6
1 changed files with 8 additions and 1 deletions
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9
cartographer/io/ply_writing_points_processor.cc
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@ -109,9 +109,16 @@ void PlyWritingPointsProcessor::Process(std::unique_ptr<PointsBatch> batch) {
has_colors_ = !batch->colors.empty(); has_colors_ = !batch->colors.empty();
WriteBinaryPlyHeader(has_colors_, 0, file_.get()); WriteBinaryPlyHeader(has_colors_, 0, file_.get());
} }
if (has_colors_) {
CHECK_EQ(batch->points.size(), batch->colors.size())
<< "First PointsBatch had colors, but encountered one without. "
"frame_id: "
<< batch->frame_id;
}
for (size_t i = 0; i < batch->points.size(); ++i) { for (size_t i = 0; i < batch->points.size(); ++i) {
WriteBinaryPlyPointCoordinate(batch->points[i], file_.get()); WriteBinaryPlyPointCoordinate(batch->points[i], file_.get());
if (!batch->colors.empty()) { if (has_colors_) {
WriteBinaryPlyPointColor(batch->colors[i], file_.get()); WriteBinaryPlyPointColor(batch->colors[i], file_.get());
} }
++num_points_; ++num_points_;