apoorva/greenhouse
2
1
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

bag_to_pcd: check return code of transformPointCloud()

Browse Source 
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
pcl_ros/tools/bag_to_pcd.cpp
View File

@ -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;