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Unverified Commit 18ebdbe1 authored by Tixiao Shan's avatar Tixiao Shan Committed by GitHub
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Merge pull request #168 from valgur/bugfix/cloud_transform

Fix a parallelism bug in transformPointCloud()
parents 8145bada b8d85c36
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......@@ -278,8 +278,6 @@ public:
{
pcl::PointCloud<PointType>::Ptr cloudOut(new pcl::PointCloud<PointType>());
PointType *pointFrom;
int cloudSize = cloudIn->size();
cloudOut->resize(cloudSize);
......@@ -288,11 +286,11 @@ public:
#pragma omp parallel for num_threads(numberOfCores)
for (int i = 0; i < cloudSize; ++i)
{
pointFrom = &cloudIn->points[i];
cloudOut->points[i].x = transCur(0,0) * pointFrom->x + transCur(0,1) * pointFrom->y + transCur(0,2) * pointFrom->z + transCur(0,3);
cloudOut->points[i].y = transCur(1,0) * pointFrom->x + transCur(1,1) * pointFrom->y + transCur(1,2) * pointFrom->z + transCur(1,3);
cloudOut->points[i].z = transCur(2,0) * pointFrom->x + transCur(2,1) * pointFrom->y + transCur(2,2) * pointFrom->z + transCur(2,3);
cloudOut->points[i].intensity = pointFrom->intensity;
const auto &pointFrom = cloudIn->points[i];
cloudOut->points[i].x = transCur(0,0) * pointFrom.x + transCur(0,1) * pointFrom.y + transCur(0,2) * pointFrom.z + transCur(0,3);
cloudOut->points[i].y = transCur(1,0) * pointFrom.x + transCur(1,1) * pointFrom.y + transCur(1,2) * pointFrom.z + transCur(1,3);
cloudOut->points[i].z = transCur(2,0) * pointFrom.x + transCur(2,1) * pointFrom.y + transCur(2,2) * pointFrom.z + transCur(2,3);
cloudOut->points[i].intensity = pointFrom.intensity;
}
return cloudOut;
}
......
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