FIX: Consistent insertPointFast()

MRPT · Jun 20, 2024 · ca3f28d · ca3f28d
1 parent 5f1578d
commit ca3f28d
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Showing 3 changed files with 1 addition and 5 deletions.
diff --git a/doc/source/doxygen-docs/changelog.md b/doc/source/doxygen-docs/changelog.md
@@ -11,6 +11,7 @@
     - mrpt::ros1bridge::toROS() conversion from `PointCloud2` to mrpt::maps::CPointsMapXYZIRT: recognize timestamp field names `"t"` and `"timestamp"`, and support conversion from uint32_t timestamps as nanoseconds.
 - BUG FIXES:
   - mrpt::vision::CFeatureTracker_KL: Parameter ``LK_epsilon`` was rounded to integer.
+  - mrpt::maps::CPointsMapXYZI::insertPointFast() did also append to the intensity channel, which is inconsistent behavior with the other map classes.
 
 # Version 2.13.1: Released June 5th, 2024
 - BUG FIXES:

diff --git a/libs/maps/src/maps/CColouredPointsMap.cpp b/libs/maps/src/maps/CColouredPointsMap.cpp
@@ -336,10 +336,6 @@ void CColouredPointsMap::insertPointFast(float x, float y, float z)
   m_x.push_back(x);
   m_y.push_back(y);
   m_z.push_back(z);
-  m_color_R.push_back(1);
-  m_color_G.push_back(1);
-  m_color_B.push_back(1);
-
   // mark_as_modified(); -> Fast
 }
 

diff --git a/libs/maps/src/maps/CPointsMapXYZI.cpp b/libs/maps/src/maps/CPointsMapXYZI.cpp
@@ -187,7 +187,6 @@ void CPointsMapXYZI::insertPointFast(float x, float y, float z)
   m_x.push_back(x);
   m_y.push_back(y);
   m_z.push_back(z);
-  m_intensity.push_back(0);
   // mark_as_modified(); Don't, this is the "XXXFast()" method
 }