Merge pull request #87 from peakpang/peakpang-patch-1

BugFix: PCL export working again. Removed valid layer and added a check for NaN.
laxnpander · Jun 2, 2023 · 91e1e71 · 91e1e71
2 parents 086f71e + bc1b879
commit 91e1e71
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/modules/realm_io/src/pcl_export.cpp b/modules/realm_io/src/pcl_export.cpp
@@ -60,7 +60,7 @@ void saveElevationPointsRGB(const CvGridMap &map,
   auto n = static_cast<uint32_t>(size.width*size.height);
 
   cv::Mat elevation = map[ele_layer_name];
-  cv::Mat mask = map[mask_layer_name];
+  cv::Mat mask = (elevation == elevation);
   cv::Mat color = map[color_layer_name];
   if (color.type() == CV_8UC4)
     cv::cvtColor(color, color, cv::ColorConversionCodes::COLOR_BGRA2BGR);
@@ -247,4 +247,4 @@ void saveElevationMeshToPLY(const CvGridMap &map,
 }
 
 }
-}
+}