Merge pull request #1728 from carlosmccosta/fix_normal_accumulator

Fixed normal accumulator vector normalization when there is no normal information (0,0,0).
PointCloudLibrary · Oct 3, 2016 · dd532fe · dd532fe
2 parents a87ef3c + 7197fed
commit dd532fe
Showing 1 changed file with 8 additions and 2 deletions.
diff --git a/common/include/pcl/common/impl/accumulators.hpp b/common/include/pcl/common/impl/accumulators.hpp
@@ -102,8 +102,14 @@ namespace pcl
       template <typename PointT> void
       get (PointT& t, size_t) const
       {
-        t.getNormalVector4fMap () = normal;
-        t.getNormalVector4fMap ().normalize ();
+#if EIGEN_VERSION_AT_LEAST (3, 3, 0)
+        t.getNormalVector4fMap () = normal.normalized ();
+#else
+        if (normal.squaredNorm() > 0)
+          t.getNormalVector4fMap () = normal.normalized ();
+        else
+          t.getNormalVector4fMap () = Eigen::Vector4f::Zero ();
+#endif
       }
 
       EIGEN_MAKE_ALIGNED_OPERATOR_NEW