From c72d74c7fbde273eada1ee3b99f13d543477adbd Mon Sep 17 00:00:00 2001
From: Eitan Marder-Eppstein <eitan@willowgarage.com>
Date: Fri, 14 Jan 2011 09:38:24 +0000
Subject: [PATCH] Fixing a bug in computing the offset shift

git-svn-id: https://code.ros.org/svn/ros-pkg/stacks/laser_pipeline/trunk@35245 eb33c2ac-9c88-4c90-87e0-44a10359b0c3
---
 src/laser_geometry.cpp | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/src/laser_geometry.cpp b/src/laser_geometry.cpp
index 0b05a2e..3ec836c 100644
--- a/src/laser_geometry.cpp
+++ b/src/laser_geometry.cpp
@@ -623,6 +623,12 @@ const boost::numeric::ublas::matrix<double>& LaserProjection::getUnitVectors_(do
           {
             offset_shift = cloud_out.fields[i + 1].offset - cloud_out.fields[i].offset;
           }
+          else
+          {
+            //we know that the index is the last field... but the shift is still important
+            //for computing the point_step and data size
+            offset_shift = 4;
+          }
         }
       }