Update esf.hpp (#1755)

PointCloudLibrary · May 30, 2017 · 0812357 · 0812357
1 parent 8efd713
commit 0812357
Showing 1 changed file with 4 additions and 1 deletion.
diff --git a/features/include/pcl/features/impl/esf.hpp b/features/include/pcl/features/impl/esf.hpp
@@ -108,7 +108,10 @@ pcl::ESFEstimation<PointInT, PointOutT>::computeESF (
     Eigen::Vector4f v23 (p2 - p3);
     a = v21.norm (); b = v31.norm (); c = v23.norm (); s = (a+b+c) * 0.5f;
     if (s * (s-a) * (s-b) * (s-c) <= 0.001f)
-      continue;
+    {
+        nn_idx--;
+        continue;
+    }
 
     v21.normalize ();
     v31.normalize ();