i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 01:20:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fixed #137

Browse Source
This commit is contained in:
matlabbe
2016-11-01 12:04:10 -04:00
parent 0a06648c02
commit 8718bb4ff1
2 changed files with 15 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
corelib/src/util3d_surface.cpp
View File

@@ -626,8 +626,9 @@ pcl::TextureMesh::Ptr createTextureMesh(
pcl::fromPCLPointCloud2(textureMesh->cloud, *cloud);
pcl::PointCloud<pcl::Normal>::Ptr normals = computeNormals(cloud, kNormalSearch);
// Concatenate the XYZ and normal fields
pcl::PointCloud<pcl::PointNormal>::Ptr cloudWithNormals;
pcl::PointCloud<pcl::PointNormal>::Ptr cloudWithNormals(new pcl::PointCloud<pcl::PointNormal>);
pcl::concatenateFields (*cloud, *normals, *cloudWithNormals);
textureMesh->cloud = pcl::PCLPointCloud2();
pcl::toPCLPointCloud2 (*cloudWithNormals, textureMesh->cloud);
}