From 9f3394cfcd4d82a453e62854bb8d4eb8d2bbca77 Mon Sep 17 00:00:00 2001
From: Sharron LIU <sharron.liu@intel.com>
Date: Thu, 10 Jan 2019 13:27:36 +0800
Subject: [PATCH] cloud_camera: fix issue #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 <sharron.liu@intel.com>
---
 src/gpg/cloud_camera.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/gpg/cloud_camera.cpp b/src/gpg/cloud_camera.cpp
index 252a17f..2852952 100644
--- 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>();
 }