From 360b87131bb9767beb3b8e82f7897234c695a23a Mon Sep 17 00:00:00 2001
From: Martin Guenther <martin.guenther@dfki.de>
Date: Fri, 22 Apr 2016 14:46:11 +0200
Subject: [PATCH] Fix handling of unorganized input in
 convert_pointcloud_to_image

Without this patch, convert_pointcloud_to_image doesn't correctly
recognize unorganized point clouds and outputs garbage that crashes
image_view.
---
 pcl_ros/tools/convert_pointcloud_to_image.cpp | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/pcl_ros/tools/convert_pointcloud_to_image.cpp b/pcl_ros/tools/convert_pointcloud_to_image.cpp
index 0fdd5e87..678bf0e4 100644
--- a/pcl_ros/tools/convert_pointcloud_to_image.cpp
+++ b/pcl_ros/tools/convert_pointcloud_to_image.cpp
@@ -56,18 +56,21 @@ public:
   void
   cloud_cb (const sensor_msgs::PointCloud2ConstPtr& cloud)
   {
-    if ((cloud->width * cloud->height) == 0)
-      return; //return if the cloud is not dense!
+    if (cloud->height <= 1)
+    {
+      ROS_ERROR("Input point cloud is not organized, ignoring!");
+      return;
+    }
     try
     {
       pcl::toROSMsg (*cloud, image_); //convert the cloud
+      image_pub_.publish (image_); //publish our cloud image
     }
     catch (std::runtime_error &e)
     {
       ROS_ERROR_STREAM("Error in converting cloud to image message: "
                         << e.what());
     }
-    image_pub_.publish (image_); //publish our cloud image
   }
   PointCloudToImage () : cloud_topic_("input"),image_topic_("output")
   {