Allow rgb fields to be of type uint32 and rgba fields to be of type f…

…loat
PointCloudLibrary · May 13, 2016 · 75e922b · 75e922b
1 parent dc206ed
commit 75e922b
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Showing 2 changed files with 8 additions and 3 deletions.
diff --git a/common/include/pcl/point_types.h b/common/include/pcl/point_types.h
@@ -689,7 +689,10 @@ namespace pcl
     {
       if (field.name == "rgb")
       {
-        return (field.datatype == pcl::PCLPointField::FLOAT32 &&
+        // For fixing the alpha value bug #1141, the rgb field can also match
+        // uint32.
+        return ((field.datatype == pcl::PCLPointField::FLOAT32 ||
+                 field.datatype == pcl::PCLPointField::UINT32) &&
                 field.count == 1);
       }
       else
@@ -712,8 +715,10 @@ namespace pcl
       }
       else
       {
+        // For fixing the alpha value bug #1141, rgb can also match uint32
         return (field.name == traits::name<PointT, fields::rgb>::value &&
-                field.datatype == traits::datatype<PointT, fields::rgb>::value &&
+                (field.datatype == traits::datatype<PointT, fields::rgb>::value ||
+                 field.datatype == pcl::PCLPointField::UINT32) &&
                 field.count == traits::datatype<PointT, fields::rgb>::size);
       }
     }

diff --git a/io/include/pcl/io/impl/pcd_io.hpp b/io/include/pcl/io/impl/pcd_io.hpp
@@ -903,7 +903,7 @@ pcl::PCDWriter::writeASCII (const std::string &file_name,
              * because several fully opaque color values are mapped to
              * nan.
              */
-            if ("rgb" == fields[i].name)
+            if ("rgb" == fields[d].name)
             {
               uint32_t value;
               memcpy (&value, reinterpret_cast<const char*> (&cloud.points[indices[i]]) + fields[d].offset + c * sizeof (float), sizeof (float));