Merging pointclouds : performance issues

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Hi all,

I create a package to merge two pointclouds to another with/o a different frame. For that I use tf, PointCloud2Iterator and PointCloud2Modifier. I don't rely on PCL for the source code to avoid a format change but I use it the test part.

I enforce a balance with the two input pointcloud in order to switch from one to another every time, not relying on the same frequency.

I observe some flickering when I subscribe to both input pointclouds and the output cloud.

The scene with 2 kinect like sensor virtual linked to a base link (white)

Code is here : https://github.com/tomlogan501/pointc...

Any ideas ? Is there another way to do that ?

EDIT : Switch to TimeSynchroniser to simplify the code and be sure to get the sources at the same timestamp. I still get the flickering but it diseappear other time, really strange. Some issue over messageFilter ?