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This commit is contained in:
matlabbe
2015-08-24 21:02:32 -04:00
parent fcdc82daae
commit 0ac79d0e8f
3 changed files with 7 additions and 35 deletions
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12
guilib/src/MainWindow.cpp
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@@ -4720,21 +4720,11 @@ bool MainWindow::getExportedClouds(
if(_exportDialog->getAssemble())
{
_initProgressDialog->appendText(tr("Update %1 normals with %2 camera views...").arg(cloudWithNormals->size()).arg(poses.size()));
pcl::PointCloud<pcl::PointXYZ>::Ptr viewpoints(new pcl::PointCloud<pcl::PointXYZ>);
viewpoints->resize(poses.size());
int oi=0;
for(std::map<int, Transform>::const_iterator iter=poses.begin(); iter!=poses.end(); ++iter)
{
(*viewpoints)[oi].x = iter->second.x();
(*viewpoints)[oi].y = iter->second.y();
(*viewpoints)[oi++].z = iter->second.z();
}
util3d::adjustNormalsToViewPoints(
poses,
rawAssembledCloud,
rawCameraIndices,
cloudWithNormals,
_exportDialog->getNormalKSearch());
cloudWithNormals);
}
cloudsWithNormals.insert(std::make_pair(iter->first, cloudWithNormals));