From 8d8a86790a9915884ade50d948a8f73c23925962 Mon Sep 17 00:00:00 2001
From: gaschler <gaschlera@gmail.com>
Date: Thu, 25 Jan 2018 14:37:16 +0100
Subject: [PATCH] Fix segfault in rosbag_validate (#685)

---
 cartographer_ros/cartographer_ros/rosbag_validate_main.cc | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/cartographer_ros/cartographer_ros/rosbag_validate_main.cc b/cartographer_ros/cartographer_ros/rosbag_validate_main.cc
index 572dcb6..91c4f34 100644
--- a/cartographer_ros/cartographer_ros/rosbag_validate_main.cc
+++ b/cartographer_ros/cartographer_ros/rosbag_validate_main.cc
@@ -173,8 +173,9 @@ class RangeDataChecker {
 
   template <typename MessageType>
   RangeChecksum ComputeRangeChecksum(const MessageType& message) {
+    auto point_cloud_with_intensities = ToPointCloudWithIntensities(message);
     const cartographer::sensor::TimedPointCloud& point_cloud =
-        std::get<0>(ToPointCloudWithIntensities(message)).points;
+        std::get<0>(point_cloud_with_intensities).points;
     Eigen::Vector4f points_sum = Eigen::Vector4f::Zero();
     for (const auto& point : point_cloud) {
       points_sum += point;