Merge pull request #58 from davidcaron/fix-downsampling-with-attribs

Fix downsampling with attributes

Author: fwilliams

src/sample_point_cloud.cpp

@@ -38,6 +38,9 @@ struct AccumulatedPoint {
     void AddPoint(const PointT& point, const AttribVecT& attrib) {
         point_ += point;
         if (attrib.cols() > 0) {
+            if (attrib_.cols() == 0) {
+                attrib_.resize(1, attrib.cols());
+            }
             attrib_ += attrib;
         }
         num_of_points_ += 1;

tests/test_examples.py

@@ -106,6 +106,7 @@ def test_downsample_point_cloud_on_voxel_grid(self):
         self.assertEqual(nms.shape, pts.shape)
         self.assertGreater(pts.shape[0], 0)
         self.assertEqual(pts.shape[1], 3)
+        self.assertGreater(abs(nms[0, 0]), 1e-7)
 
         # With RBG colors
         c = np.random.rand(v.shape[0], 3)