sensor acquisition pose info is lost after pcl::removeNaNFromPointCloud and pcl::removeNaNNormalsFromPointCloud

[csukuangfj]

Your Environment

• PCL Version: the master branch

Context

pcl/common/include/pcl/point_cloud.h

Lines 420 to 423 in 3682b68

	/** \brief Sensor acquisition pose (origin/translation). */
	Eigen::Vector4f sensor_origin_;
	/** \brief Sensor acquisition pose (rotation). */
	Eigen::Quaternionf sensor_orientation_;

the above two fields of the cloud_out are not set in the following two functions

pcl/filters/include/pcl/filters/impl/filter.hpp

Lines 45 to 48 in 3682b68

	template <typename PointT> void
	pcl::removeNaNFromPointCloud (const pcl::PointCloud<PointT> &cloud_in,
	pcl::PointCloud<PointT> &cloud_out,
	std::vector<int> &index)

pcl/filters/include/pcl/filters/impl/filter.hpp

Lines 96 to 99 in 3682b68

	template <typename PointT> void
	pcl::removeNaNNormalsFromPointCloud (const pcl::PointCloud<PointT> &cloud_in,
	pcl::PointCloud<PointT> &cloud_out,
	std::vector<int> &index)

Expected Behavior

pose info should be kept after filtering.

Current Behavior

pose info is lost after filtering.

Code to Reproduce

See the code above.

Possible Solution

Copy the pose info from the input cloud to the outpu cloud.