Method _destaggerCloud

sloam/src/segmentation/inference.cpp:200–228

}

void Segmentation::_destaggerCloud(const Cloud::Ptr cloud, Cloud::Ptr& outCloud){
  bool col_valid = true;

  for(auto irow = 0; irow < _img_h; irow++){
    for(auto icol = 0; icol < _img_w; icol++){
      auto im_col = icol;
      // Ouster data needs a shift every other row
      if(irow % 2 == 0){
        im_col += 32;
        if(im_col < 0 || im_col > _img_w){
          col_valid = false;
          im_col = im_col % _img_w;
        }
      }

      if(col_valid){
        const auto& pt = cloud->points[irow * _img_w + icol];
        auto& outPt = outCloud->points[irow * _img_w + im_col];
        // const auto& pt = cloud->at(icol, irow);
        // auto& outPt = outCloud->at(im_col, irow);
        outPt.x = pt.x;
        outPt.y = pt.y;
        outPt.z = pt.z;
      }
      
      col_valid = true;
    }
  }
}

void Segmentation::maskCloud(const Cloud::Ptr cloud,
                              cv::Mat mask,