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Fixed the crash caused by color_format not being set to H264 or H265

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jj
2024-12-19 16:05:11 +08:00
parent ab1faaa3ec
commit 35405405aa
1 changed files with 14 additions and 5 deletions
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orbbec_camera/src/ob_camera_node.cpp
+14 -5
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@@ -1810,10 +1810,13 @@ bool OBCameraNode::decodeColorFrameToBuffer(const std::shared_ptr<ob::Frame> &fr
} }
CHECK_NOTNULL(image_publishers_[COLOR]); CHECK_NOTNULL(image_publishers_[COLOR]);
bool has_subscriber = image_publishers_[COLOR]->get_subscription_count() > 0; bool has_subscriber = image_publishers_[COLOR]->get_subscription_count() > 0;
if (camera_h26x_publishers_[COLOR] && if (!camera_h26x_publishers_.empty()) {
camera_h26x_publishers_[COLOR]->get_subscription_count() > 0) { if (camera_h26x_publishers_[COLOR] &&
has_subscriber = true; camera_h26x_publishers_[COLOR]->get_subscription_count() > 0) {
has_subscriber = true;
}
} }
if (enable_colored_point_cloud_ && depth_registration_cloud_pub_->get_subscription_count() > 0) { if (enable_colored_point_cloud_ && depth_registration_cloud_pub_->get_subscription_count() > 0) {
has_subscriber = true; has_subscriber = true;
} }
@@ -1909,8 +1912,12 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
has_subscriber = has_subscriber =
has_subscriber || (metadata_publishers_.count(stream_index) && has_subscriber || (metadata_publishers_.count(stream_index) &&
metadata_publishers_[stream_index]->get_subscription_count() > 0); metadata_publishers_[stream_index]->get_subscription_count() > 0);
has_subscriber = has_subscriber || (camera_h26x_publishers_[COLOR] && if (!camera_h26x_publishers_.empty()) {
camera_h26x_publishers_[COLOR]->get_subscription_count() > 0); has_subscriber =
has_subscriber || (camera_h26x_publishers_[COLOR] &&
camera_h26x_publishers_[COLOR]->get_subscription_count() > 0);
}
if (!has_subscriber) { if (!has_subscriber) {
return; return;
} }
@@ -1989,7 +1996,9 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
publishMetadata(frame, stream_index, camera_info.header); publishMetadata(frame, stream_index, camera_info.header);
} }
CHECK_NOTNULL(image_publishers_[stream_index]); CHECK_NOTNULL(image_publishers_[stream_index]);
if (image_publishers_[stream_index]->get_subscription_count() == 0 && if (image_publishers_[stream_index]->get_subscription_count() == 0 &&
!camera_h26x_publishers_.empty() &&
(!camera_h26x_publishers_[COLOR] && (!camera_h26x_publishers_[COLOR] &&
camera_h26x_publishers_[COLOR]->get_subscription_count() == 0)) { camera_h26x_publishers_[COLOR]->get_subscription_count() == 0)) {
return; return;