BUG：PCDGrabber When running Kinfu in offline mode with pcd

This issues has already been posted on PCL Mailinglist.

http://www.pcl-users.org/BUG-PCDGrabber-When-running-Kinfu-in-offline-mode-with-pcd-tt4041073.html

Hi,
I just want to run kinfu_large_scale in offline mode with pcds prepared in advance.
My pcds files meet the requirement of RBGA format:

.PCD v0.7 - Point Cloud Data file format

VERSION 0.7
FIELDS x y z rgba
SIZE 4 4 4 4
TYPE F F F U
COUNT 1 1 1 1
WIDTH 640
HEIGHT 480
VIEWPOINT 0 0 0 1 0 0 0
POINTS 307200
DATA binary_compressed
.....
I have tried to debug the code in \pcl-master\gpu\kinfu_large_scale\tools\kinfuLS_app.cpp
I found that the has_data flag in startMainLoop function were all zero. So I considered that the capture of PCDGrabber didn't work.

And someone else had same problems posted in the Mailinglist.But this guy didn't leave his patch.
http://www.pcl-users.org/kinfu-in-offline-mode-with-registration-tt4020468.html

I would be appreciated if anyone can help me?

Start in gpu/kinfu_large_scale/tools/kinfuLS_app.cpp, especially startMainLoop, and trace why the has_data flag remains zero when Kinfu runs offline with PCD files. Inspect the PCDGrabber path and verify that the supplied RGBA binary-compressed point clouds are consumed successfully in offline mode.