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point_cloud_xyz: fixed bug where normals are computed by setting noise_filter_radius parameter

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matlabbe
2017-11-09 15:18:29 -05:00
parent 1058cafcd7
commit 0ac240b99c
2 changed files with 2 additions and 2 deletions
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src/nodelets/point_cloud_xyz.cpp
+1 -1
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@@ -310,7 +310,7 @@ private:
} }
sensor_msgs::PointCloud2 rosCloud; sensor_msgs::PointCloud2 rosCloud;
if(pclCloud->size() && (normalK_ > 0 || noiseFilterRadius_ > 0.0f)) if(pclCloud->size() && (normalK_ > 0 || normalRadius_ > 0.0f))
{ {
//compute normals //compute normals
pcl::PointCloud<pcl::Normal>::Ptr normals = rtabmap::util3d::computeNormals(pclCloud, normalK_, normalRadius_); pcl::PointCloud<pcl::Normal>::Ptr normals = rtabmap::util3d::computeNormals(pclCloud, normalK_, normalRadius_);
src/nodelets/point_cloud_xyzrgb.cpp
+1 -1
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@@ -461,7 +461,7 @@ private:
} }
sensor_msgs::PointCloud2 rosCloud; sensor_msgs::PointCloud2 rosCloud;
if(pclCloud->size() && (normalK_ > 0 || noiseFilterRadius_ > 0.0f)) if(pclCloud->size() && (normalK_ > 0 || normalRadius_ > 0.0f))
{ {
//compute normals //compute normals
pcl::PointCloud<pcl::Normal>::Ptr normals = rtabmap::util3d::computeNormals(pclCloud, normalK_, normalRadius_); pcl::PointCloud<pcl::Normal>::Ptr normals = rtabmap::util3d::computeNormals(pclCloud, normalK_, normalRadius_);