From 47fde33dec17aad070c4e259b5cfd61f65e8ea3f Mon Sep 17 00:00:00 2001
From: Eitan Marder-Eppstein <eitan@willowgarage.com>
Date: Fri, 14 Jan 2011 09:51:37 +0000
Subject: [PATCH] Fixing bug in how data is copied

git-svn-id: https://code.ros.org/svn/ros-pkg/stacks/laser_pipeline/trunk@35248 eb33c2ac-9c88-4c90-87e0-44a10359b0c3
---
 src/laser_geometry.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/laser_geometry.cpp b/src/laser_geometry.cpp
index 67da750..71779c0 100644
--- a/src/laser_geometry.cpp
+++ b/src/laser_geometry.cpp
@@ -635,7 +635,7 @@ const boost::numeric::ublas::matrix<double>& LaserProjection::getUnitVectors_(do
       unsigned int i = 0, j = 0;
       while(i < cloud_out.data.size())
       {
-        if(i % index_offset)
+        if((i % cloud_out.point_step) < index_offset || (i % cloud_out.point_step) >= (index_offset + 4))
         {
           cloud_without_index.data[j++] = cloud_out.data[i++];
         }