Merge pull request #2128 from UnaNancyOwen/fix_example

Fix convert to Eigen::Map<const Eigen::Vector3f> from Normal of pcl::PointXYZINormal
PointCloudLibrary · Dec 7, 2017 · 4462e9b · 4462e9b
2 parents b0e83f2 + 1d7052a
commit 4462e9b
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/...als/content/sources/conditional_euclidean_clustering/conditional_euclidean_clustering.cpp b/...als/content/sources/conditional_euclidean_clustering/conditional_euclidean_clustering.cpp
@@ -21,7 +21,7 @@ enforceIntensitySimilarity (const PointTypeFull& point_a, const PointTypeFull& p
 bool
 enforceCurvatureOrIntensitySimilarity (const PointTypeFull& point_a, const PointTypeFull& point_b, float squared_distance)
 {
-  Eigen::Map<const Eigen::Vector3f> point_a_normal = point_a.normal, point_b_normal = point_b.normal;
+  Eigen::Map<const Eigen::Vector3f> point_a_normal = point_a.getNormalVector3fMap (), point_b_normal = point_b.getNormalVector3fMap ();
   if (fabs (point_a.intensity - point_b.intensity) < 5.0f)
     return (true);
   if (fabs (point_a_normal.dot (point_b_normal)) < 0.05)
@@ -32,7 +32,7 @@ enforceCurvatureOrIntensitySimilarity (const PointTypeFull& point_a, const Point
 bool
 customRegionGrowing (const PointTypeFull& point_a, const PointTypeFull& point_b, float squared_distance)
 {
-  Eigen::Map<const Eigen::Vector3f> point_a_normal = point_a.normal, point_b_normal = point_b.normal;
+  Eigen::Map<const Eigen::Vector3f> point_a_normal = point_a.getNormalVector3fMap (), point_b_normal = point_b.getNormalVector3fMap ();
   if (squared_distance < 10000)
   {
     if (fabs (point_a.intensity - point_b.intensity) < 8.0f)