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util3d: Fixed color not copied on laser scan conversion

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matlabbe
2017-09-18 17:00:15 -04:00
parent 2aa56c8d49
commit a70996f079
3 changed files with 27 additions and 5 deletions
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6
corelib/src/util3d_transforms.cpp
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@@ -193,7 +193,9 @@ pcl::PointXYZRGB transformPoint(
const pcl::PointXYZRGB & pt,
const Transform & transform)
{
return pcl::transformPoint(pt, transform.toEigen3f());
pcl::PointXYZRGB ptRGB = pcl::transformPoint(pt, transform.toEigen3f());
ptRGB.rgb = pt.rgb;
return ptRGB;
}
pcl::PointNormal transformPoint(
const pcl::PointNormal & point,
@@ -227,6 +229,8 @@ pcl::PointXYZRGBNormal transformPoint(
ret.normal_x = static_cast<float> (transform (0, 0) * nt.coeffRef (0) + transform (0, 1) * nt.coeffRef (1) + transform (0, 2) * nt.coeffRef (2));
ret.normal_y = static_cast<float> (transform (1, 0) * nt.coeffRef (0) + transform (1, 1) * nt.coeffRef (1) + transform (1, 2) * nt.coeffRef (2));
ret.normal_z = static_cast<float> (transform (2, 0) * nt.coeffRef (0) + transform (2, 1) * nt.coeffRef (1) + transform (2, 2) * nt.coeffRef (2));
ret.rgb = point.rgb;
return ret;
}