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icpCC: when force3DoF is true, set z to 0 in data conversion

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matlabbe
2021-03-28 09:28:55 -04:00
parent 69735b6271
commit a58ec494d1
1 changed files with 2 additions and 2 deletions
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4
corelib/src/icp/cccorelib.h
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@@ -91,7 +91,7 @@ rtabmap::Transform icpCC(
CCVector3 P; CCVector3 P;
P.x = fromCloud->points[nIndex].x; P.x = fromCloud->points[nIndex].x;
P.y = fromCloud->points[nIndex].y; P.y = fromCloud->points[nIndex].y;
P.z = fromCloud->points[nIndex].z; P.z = force3DoF?0:fromCloud->points[nIndex].z;
fromPointCloud.addPoint(P); fromPointCloud.addPoint(P);
} }
toPointCloud.reserve(toCloud->points.size()); toPointCloud.reserve(toCloud->points.size());
@@ -100,7 +100,7 @@ rtabmap::Transform icpCC(
CCVector3 P; CCVector3 P;
P.x = toCloud->points[nIndex].x; P.x = toCloud->points[nIndex].x;
P.y = toCloud->points[nIndex].y; P.y = toCloud->points[nIndex].y;
P.z = toCloud->points[nIndex].z; P.z = force3DoF?0:toCloud->points[nIndex].z;
toPointCloud.addPoint(P); toPointCloud.addPoint(P);
} }