Do not discard data fields in pcl_uniform_sampling tool
#3461
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taketwo
added
changelog: behavior change
SergioRAgostinho
approved these changes
Nov 11, 2019
tools/uniform_sampling.cpp
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| us.getRemovedIndices(removed_indices); | ||
| std::sort(removed_indices.indices.begin(), | ||
| removed_indices.indices.end(), | ||
| [](const auto& a, const auto& b) { return a < b; }); |
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removed_indices.indices is std::vector<int> and the comparison metric you're using is the default one. I suspect you don't need to provide this third argument.
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pcl_uniform_sampling tool
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This PR changes the behavior of the uniform sampling tool. Currently, the tool always outputs XYZ point clouds irrespective of the original point type. This means that any additional fields (e.g. color) are lost. With this change the output point cloud will have exactly same fields as the input.