Merge pull request #4396 from kunaltyagi/tf_plae

PointCloudLibrary · Sep 13, 2020 · bff09b1 · bff09b1
2 parents 603316e + 2b1136a
commit bff09b1
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Showing 2 changed files with 5 additions and 5 deletions.
diff --git a/common/include/pcl/common/eigen.h b/common/include/pcl/common/eigen.h
@@ -543,20 +543,20 @@ namespace pcl
   * \warning ModelCoefficients stores floats only !
   */
   template<typename Scalar> void
-  transformPlane (const pcl::ModelCoefficients::Ptr plane_in,
+  transformPlane (const pcl::ModelCoefficients::ConstPtr plane_in,
                         pcl::ModelCoefficients::Ptr plane_out,
                   const Eigen::Transform<Scalar, 3, Eigen::Affine> &transformation);
 
   inline void
-  transformPlane (const pcl::ModelCoefficients::Ptr plane_in,
+  transformPlane (const pcl::ModelCoefficients::ConstPtr plane_in,
                         pcl::ModelCoefficients::Ptr plane_out,
                   const Eigen::Transform<double, 3, Eigen::Affine> &transformation)
   {
     transformPlane<double> (plane_in, plane_out, transformation);
   }
 
   inline void
-  transformPlane (const pcl::ModelCoefficients::Ptr plane_in,
+  transformPlane (const pcl::ModelCoefficients::ConstPtr plane_in,
                         pcl::ModelCoefficients::Ptr plane_out,
                   const Eigen::Transform<float, 3, Eigen::Affine> &transformation)
   {

diff --git a/common/include/pcl/common/impl/eigen.hpp b/common/include/pcl/common/impl/eigen.hpp
@@ -772,15 +772,15 @@ transformPlane (const Eigen::Matrix<Scalar, 4, 1> &plane_in,
 
 
 template <typename Scalar> void
-transformPlane (const pcl::ModelCoefficients::Ptr plane_in,
+transformPlane (const pcl::ModelCoefficients::ConstPtr plane_in,
                       pcl::ModelCoefficients::Ptr plane_out,
                 const Eigen::Transform<Scalar, 3, Eigen::Affine> &transformation)
 {
   std::vector<Scalar> values (plane_in->values.begin (), plane_in->values.end ());
   Eigen::Matrix < Scalar, 4, 1 > v_plane_in (values.data ());
   pcl::transformPlane (v_plane_in, v_plane_in, transformation);
   plane_out->values.resize (4);
-  std::copy_n(v_plane_in.data (), 4, plane_in->values.begin ());
+  std::copy_n(v_plane_in.data (), 4, plane_out->values.begin ());
 }