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mgschwan / blensor

Blender Sensor Simulation
www.blensor.org
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How are the scan labels generated in output pcd file? #47

Closed Ritchizh closed 2 years ago

Ritchizh commented 2 years ago

Hi! I'm following PCL Tutorial, loading and scanning a scene. In the .pcd file, produced with General Lidar sensor, there is label field:

When I visualize unique labels with color, I get this:

Which is different from color information, where, for example, all cups have different color, and looks like segmentation. Could you please tell me how were these lables generated?

liveforday commented 2 years ago

Blensor-1.0.18-Blender-2.79-Winx64\2.79\scripts\addons\blensor\scan_interface_pure.py line 10 of the file returns_buffer[idx*ELEMENTS_PER_RETURN+4] = ord(name[0]) + (ord(name[1])<<8) + (ord(name[2])<<16) + (ord(name[3])<<24) blensor get value of the label according to the first four characters of the name string