cloud_camera: fix issue atenpas#6

Added parameters to specify the number of dimensions to consider for each point, When invoking pcl::PointCloud< PointT >::getMatrixXfMap() Signed-off-by: Sharron LIU <[email protected]>
sharronliu · Jan 10, 2019 · 9f3394c · 9f3394c
1 parent b4f1fee
commit 9f3394c
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/gpg/cloud_camera.cpp b/src/gpg/cloud_camera.cpp
@@ -395,7 +395,7 @@ void CloudCamera::calculateNormalsOrganized()
   ne.setNormalEstimationMethod(ne.COVARIANCE_MATRIX);
   ne.setNormalSmoothingSize(20.0f);
   ne.compute(*cloud_normals);
-  normals_ = cloud_normals->getMatrixXfMap().cast<double>();
+  normals_ = cloud_normals->getMatrixXfMap(3, 4, 0).cast<double>();
 }