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Fix handling of unorganized input in convert_pointcloud_to_image

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Without this patch, convert_pointcloud_to_image doesn't correctly
recognize unorganized point clouds and outputs garbage that crashes
image_view.
This commit is contained in:
Martin Guenther 2016-04-22 14:46:11 +02:00 committed by Paul Bovbel
parent aa370cefc8
commit 360b87131b
1 changed files with 6 additions and 3 deletions
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9
pcl_ros/tools/convert_pointcloud_to_image.cpp
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@ -56,18 +56,21 @@ public:
void void
cloud_cb (const sensor_msgs::PointCloud2ConstPtr& cloud) cloud_cb (const sensor_msgs::PointCloud2ConstPtr& cloud)
{ {
if ((cloud->width * cloud->height) == 0) if (cloud->height <= 1)
return; //return if the cloud is not dense! {
ROS_ERROR("Input point cloud is not organized, ignoring!");
return;
}
try try
{ {
pcl::toROSMsg (*cloud, image_); //convert the cloud pcl::toROSMsg (*cloud, image_); //convert the cloud
image_pub_.publish (image_); //publish our cloud image
} }
catch (std::runtime_error &e) catch (std::runtime_error &e)
{ {
ROS_ERROR_STREAM("Error in converting cloud to image message: " ROS_ERROR_STREAM("Error in converting cloud to image message: "
<< e.what()); << e.what());
} }
image_pub_.publish (image_); //publish our cloud image
} }
PointCloudToImage () : cloud_topic_("input"),image_topic_("output") PointCloudToImage () : cloud_topic_("input"),image_topic_("output")
{ {