Commit 8c258f15 authored by CRS-User's avatar CRS-User

asd

parent 56d3a9e1
......@@ -28,6 +28,9 @@
using CloudRGBA = pcl::PointCloud<pcl::PointXYZRGBA>;
void setCloudColor(CloudRGBA::Ptr cloud, int r, int g, int b) {
BOOST_ASSERT(r > 0 && r < 256);
/* MISSING - Task 2 */
/* MISSING - Task 2 */
for (int i = 0; i < cloud->size(); ++i) {
auto& point = (*cloud)[i];
point.r = r;
......@@ -47,6 +50,7 @@ CloudRGBA::Ptr downsample(CloudRGBA::Ptr frame, float leafSize) {
*downsampledCloud = *frame;
return downsampledCloud;
}
BOOST_ASSERT(leafSize != 0);
// Downsample using voxelgrid
pcl::VoxelGrid<pcl::PointXYZRGBA> downsample_filter;
downsample_filter.setLeafSize(0, 0, 0); /* FIX ME - Task 2 */
......
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