fixed wrong erasing order on feature_map_ in PFHEstimation

strothmw · Mar 25, 2015 · bbec109 · bbec109
1 parent 625af2d
commit bbec109
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/features/include/pcl/features/impl/pfh.hpp b/features/include/pcl/features/impl/pfh.hpp
@@ -68,6 +68,7 @@ pcl::PFHEstimation<PointInT, PointNT, PointOutT>::computePointPFHSignature (
   float hist_incr = 100.0f / static_cast<float> (indices.size () * (indices.size () - 1) / 2);
 
   std::pair<int, int> key;
+
   // Iterate over all the points in the neighborhood
   for (size_t i_idx = 0; i_idx < indices.size (); ++i_idx)
   {
@@ -144,7 +145,7 @@ pcl::PFHEstimation<PointInT, PointNT, PointOutT>::computePointPFHSignature (
         if (key_list_.size () > max_cache_size_)
         {
           // Remove the last element.
-          feature_map_.erase (key_list_.back ());
+          feature_map_.erase (key_list_.front() );
           key_list_.pop ();
         }
       }