PointCloudLibrary#1657: Fix cropHull

piaggiofastforward · Jul 23, 2018 · b8a8a2b · b8a8a2b
1 parent 310b93f
commit b8a8a2b
Showing 1 changed file with 3 additions and 4 deletions.
diff --git a/filters/include/pcl/filters/impl/crop_hull.hpp b/filters/include/pcl/filters/impl/crop_hull.hpp
@@ -199,10 +199,9 @@ pcl::CropHull<PointT>::applyFilter3D (PointCloud &output)
         crossings[ray] += rayTriangleIntersect
           (input_->points[(*indices_)[index]], rays[ray], hull_polygons_[poly], *hull_cloud_);
 
-    if (crop_outside_ && (crossings[0]&1) + (crossings[1]&1) + (crossings[2]&1) > 1)
-      output.push_back (input_->points[(*indices_)[index]]);
-    else if (!crop_outside_)
-      output.push_back (input_->points[(*indices_)[index]]);
+    bool isPointInsideHull = (crossings[0]&1) + (crossings[1]&1) + (crossings[2]&1) > 1;
+    if ((crop_outside_ && isPointInsideHull) || (!crop_outside_ && !isPointInsideHull))
+        output.push_back (input_->points[(*indices_)[index]]);
   }
 }