Fix issues describled in #1324 (Color offset problem and wrong variab…

…le used)
PointCloudLibrary · Sep 8, 2015 · 8167c96 · 8167c96
1 parent 7cc4806
commit 8167c96
Showing 1 changed file with 5 additions and 5 deletions.
diff --git a/visualization/include/pcl/visualization/impl/point_cloud_color_handlers.hpp b/visualization/include/pcl/visualization/impl/point_cloud_color_handlers.hpp
@@ -170,7 +170,7 @@ pcl::visualization::PointCloudColorHandlerRGBField<PointT>::getColor (vtkSmartPo
           !pcl_isfinite (cloud_->points[cp].z))
         continue;
 
-      memcpy (&rgb, (reinterpret_cast<const char *> (&cloud_->points[cp])) + rgba_index, sizeof (pcl::RGB));
+      memcpy (&rgb, (reinterpret_cast<const char *> (&cloud_->points[cp])) + fields[rgba_index].offset, sizeof (pcl::RGB));
       colors[j    ] = rgb.r;
       colors[j + 1] = rgb.g;
       colors[j + 2] = rgb.b;
@@ -183,10 +183,10 @@ pcl::visualization::PointCloudColorHandlerRGBField<PointT>::getColor (vtkSmartPo
     for (vtkIdType cp = 0; cp < nr_points; ++cp)
     {
       int idx = static_cast<int> (cp) * 3;
-      memcpy (&rgb, (reinterpret_cast<const char *> (&cloud_->points[cp])) + rgba_index, sizeof (pcl::RGB));
-      colors[j    ] = rgb.r;
-      colors[j + 1] = rgb.g;
-      colors[j + 2] = rgb.b;
+      memcpy (&rgb, (reinterpret_cast<const char *> (&cloud_->points[cp])) + fields[rgba_index].offset, sizeof (pcl::RGB));
+      colors[idx    ] = rgb.r;
+      colors[idx + 1] = rgb.g;
+      colors[idx + 2] = rgb.b;
     }
   }
   return (true);