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bag_to_pcd: check return code of transformPointCloud()

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This fixes a bug where bag_to_pcd segfaults because of an ignored
tf::ExtrapolationException.
This commit is contained in:
Martin Günther 2013-06-19 17:38:31 +02:00 committed by Paul Bovbel
parent fa2baa5248
commit 1a8f70b099
1 changed files with 6 additions and 1 deletions
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7
pcl_ros/tools/bag_to_pcd.cpp
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@ -129,8 +129,13 @@ int
++view_it; ++view_it;
continue; continue;
} }
// Transform it // 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; 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;