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Fixes #85 for Indigo

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Lucid One 2015-05-11 16:51:52 -04:00 committed by Paul Bovbel
parent 0a958f55ce
commit 04c29ac9cc
1 changed files with 7 additions and 5 deletions
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12
pcl_ros/src/pcl_ros/io/concatenate_data.cpp
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@ -215,6 +215,8 @@ pcl_ros::PointCloudConcatenateDataSynchronizer::combineClouds (const PointCloud2
// Concatenate the results // Concatenate the results
pcl::concatenatePointCloud (*in1_t, *in2_t, out); pcl::concatenatePointCloud (*in1_t, *in2_t, out);
// Copy header
out.header.stamp = in1.header.stamp;
} }
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
@ -228,21 +230,21 @@ pcl_ros::PointCloudConcatenateDataSynchronizer::input (
PointCloud2::Ptr out1 (new PointCloud2 ()); PointCloud2::Ptr out1 (new PointCloud2 ());
PointCloud2::Ptr out2 (new PointCloud2 ()); PointCloud2::Ptr out2 (new PointCloud2 ());
pcl_ros::PointCloudConcatenateDataSynchronizer::combineClouds (*in1, *in2, *out1); pcl_ros::PointCloudConcatenateDataSynchronizer::combineClouds (*in1, *in2, *out1);
if (in3) if (in3 && in3->width * in3->height > 0)
{ {
pcl_ros::PointCloudConcatenateDataSynchronizer::combineClouds (*out1, *in3, *out2); pcl_ros::PointCloudConcatenateDataSynchronizer::combineClouds (*out1, *in3, *out2);
out1 = out2; out1 = out2;
if (in4) if (in4 && in4->width * in4->height > 0)
{ {
pcl_ros::PointCloudConcatenateDataSynchronizer::combineClouds (*out2, *in4, *out1); pcl_ros::PointCloudConcatenateDataSynchronizer::combineClouds (*out2, *in4, *out1);
if (in5) if (in5 && in5->width * in5->height > 0)
{ {
pcl_ros::PointCloudConcatenateDataSynchronizer::combineClouds (*out1, *in5, *out2); pcl_ros::PointCloudConcatenateDataSynchronizer::combineClouds (*out1, *in5, *out2);
out1 = out2; out1 = out2;
if (in6) if (in6 && in6->width * in6->height > 0)
{ {
pcl_ros::PointCloudConcatenateDataSynchronizer::combineClouds (*out2, *in6, *out1); pcl_ros::PointCloudConcatenateDataSynchronizer::combineClouds (*out2, *in6, *out1);
if (in7) if (in7 && in7->width * in7->height > 0)
{ {
pcl_ros::PointCloudConcatenateDataSynchronizer::combineClouds (*out1, *in7, *out2); pcl_ros::PointCloudConcatenateDataSynchronizer::combineClouds (*out1, *in7, *out2);
out1 = out2; out1 = out2;