Do not apply pose transformation on normals if the cloud does not have normals

modules/surface_matching/src/ppf_helpers.cpp

@@ -504,8 +504,11 @@ Mat transformPCPose(Mat pc, double Pose[16])
       pcDataT[2] = (float)(p2[2]/p2[3]);
     }
 
-    // Rotate the normals, too
-    double n[3] = {(double)n1[0], (double)n1[1], (double)n1[2]}, n2[3];
+    // If the point cloud has normals,
+    // then rotate them as well
+    if (pc.cols == 6)
+    {
+      double n[3] = { (double)n1[0], (double)n1[1], (double)n1[2] }, n2[3];
 
       matrixProduct331(R, n, n2);
       double nNorm = sqrt(n2[0]*n2[0]+n2[1]*n2[1]+n2[2]*n2[2]);
@@ -517,6 +520,7 @@ Mat transformPCPose(Mat pc, double Pose[16])
         nT[2]=(float)(n2[2]/nNorm);
       }
     }
+  }
 
   return pct;
 }