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fixed g2r maybe crash

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This commit is contained in:
Joe Dong
2024-05-07 15:55:32 +08:00
parent 88e5bff87c
commit 0497d7f23b
1 changed files with 2 additions and 1 deletions
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orbbec_camera/src/ob_camera_node.cpp
+2 -1
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@@ -1197,7 +1197,7 @@ void OBCameraNode::onNewFrameSetCallback(std::shared_ptr<ob::FrameSet> frame_set
CHECK_NOTNULL(device_info.get());
auto pid = device_info->pid();
if (isGemini335PID(pid)) {
if (depth_registration_ && align_filter_) {
if (depth_registration_ && align_filter_ && depth_frame_) {
auto new_frame = align_filter_->process(frame_set);
if (new_frame) {
auto new_frame_set = new_frame->as<ob::FrameSet>();
@@ -1485,6 +1485,7 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
}
auto image_msg =
cv_bridge::CvImage(std_msgs::msg::Header(), encoding_[stream_index], image).toImageMsg();
CHECK_NOTNULL(image_msg.get());
image_msg->header.stamp = timestamp;
image_msg->is_bigendian = false;
image_msg->step = width * unit_step_size_[stream_index];