From 1a8f70b099d3c8024a3be22e46b378c9942b795a Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Martin=20G=C3=BCnther?= <mguenthe@uos.de>
Date: Wed, 19 Jun 2013 17:38:31 +0200
Subject: [PATCH] bag_to_pcd: check return code of transformPointCloud()

This fixes a bug where bag_to_pcd segfaults because of an ignored
tf::ExtrapolationException.
---
 pcl_ros/tools/bag_to_pcd.cpp | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/pcl_ros/tools/bag_to_pcd.cpp b/pcl_ros/tools/bag_to_pcd.cpp
index eefb185f..f66d74b5 100644
--- a/pcl_ros/tools/bag_to_pcd.cpp
+++ b/pcl_ros/tools/bag_to_pcd.cpp
@@ -129,8 +129,13 @@ int
         ++view_it;
         continue;
       }
+
       // Transform it
-      pcl_ros::transformPointCloud ("/base_link", *cloud, cloud_t, tf_listener);
+      if (!pcl_ros::transformPointCloud ("/base_link", *cloud, cloud_t, tf_listener))
+      {
+        ++view_it;
+        continue;
+      }
 
       std::cerr << "Got " << cloud_t.width * cloud_t.height << " data points in frame " << cloud_t.header.frame_id << " with the following fields: " << pcl::getFieldsList (cloud_t) << std::endl;