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

Fix downsampling with attributes
fwilliams · Sep 10, 2023 · fa5937e · fa5937e
2 parents cf0c166 + 9139fe1
commit fa5937e
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diff --git a/src/sample_point_cloud.cpp b/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;

diff --git a/tests/test_examples.py b/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)