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export: fixed exported NaN points when voxel filter is not used

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This commit is contained in:
matlabbe
2026-02-08 16:23:55 -08:00
parent b47c4093a6
commit b3b8fbddbe
1 changed files with 15 additions and 6 deletions
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tools/Export/main.cpp
+15 -6
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@@ -1691,15 +1691,24 @@ int main(int argc, char * argv[])
{
if(voxelSize>0.0f)
{
if(cloud.get() && !cloud->empty())
if(cloud.get() && !cloud->empty()) {
cloud = rtabmap::util3d::voxelize(cloud, indices, voxelSize);
else if(cloudI.get() && !cloudI->empty())
if(!cloud->empty())
cloud = rtabmap::util3d::transformPointCloud(cloud, iter->second);
}
else if(cloudI.get() && !cloudI->empty()) {
cloudI = rtabmap::util3d::voxelize(cloudI, indices, voxelSize);
if(!cloudI->empty())
cloudI = rtabmap::util3d::transformPointCloud(cloudI, iter->second);
}
}
else
{
if(cloud.get() && !cloud->empty())
cloud = rtabmap::util3d::transformPointCloud(cloud, indices, iter->second);
else if(cloudI.get() && !cloudI->empty())
cloudI = rtabmap::util3d::transformPointCloud(cloudI, indices, iter->second);
}
if(cloud.get() && !cloud->empty())
cloud = rtabmap::util3d::transformPointCloud(cloud, iter->second);
else if(cloudI.get() && !cloudI->empty())
cloudI = rtabmap::util3d::transformPointCloud(cloudI, iter->second);
if(filter_ceiling != 0.0 || filter_floor != 0.0f)
{