mulran dataset: generate per-point RING id

MOLAorg · Feb 3, 2024 · 084ac8d · 084ac8d
1 parent cb12be7
commit 084ac8d
Showing 1 changed file with 3 additions and 2 deletions.
diff --git a/mola_input_mulran_dataset/src/MulranDataset.cpp b/mola_input_mulran_dataset/src/MulranDataset.cpp
@@ -358,17 +358,18 @@ void MulranDataset::load_lidar(timestep_t step) const
 
     const size_t nPts = pts->size();
     ASSERT_EQUAL_(nPts, 1024 * 64);
-    pts->resize_XYZIRT(nPts, true /*i*/, false /*R*/, true /*t*/);
+    pts->resize_XYZIRT(nPts, true /*i*/, true /*R*/, true /*t*/);
 
     // Fixed to 10 Hz rotation in this dataset:
     const double sweepDuration = 0.1;  //  [s]
     const double At            = -0.5 * sweepDuration;
 
     for (size_t i = 0; i < nPts; i++)
     {
-        // const int row = i % 64;
+        const int row = i % 64;
         const int col = i / 64;
         pts->setPointTime(i, At + sweepDuration * col / 1024.0);
+        pts->setPointRing(i, row);
     }
 
     // Pose: