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fix: improve null checks and error handling in OBCameraNode methods

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This commit is contained in:
ob-yalian
2026-01-13 17:23:09 +08:00
parent 979fba4f49
commit 3d8e975753
2 changed files with 43 additions and 7 deletions
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orbbec_camera/src/ob_camera_node.cpp
+32 -5
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@@ -2633,10 +2633,20 @@ void OBCameraNode::publishDepthPointCloud(const std::shared_ptr<ob::FrameSet> &f
RCLCPP_ERROR_STREAM(logger_, "depth frame is null");
return;
}
CHECK_NOTNULL(pipeline_);
if (!pipeline_) {
RCLCPP_ERROR_STREAM(logger_, "pipeline is null in publishDepthPointCloud");
return;
}
auto camera_params = pipeline_->getCameraParam();
if (!device_) {
RCLCPP_ERROR_STREAM(logger_, "device is null in publishDepthPointCloud");
return;
}
auto device_info = device_->getDeviceInfo();
CHECK_NOTNULL(device_info.get());
if (!device_info || !device_info.get()) {
RCLCPP_ERROR_STREAM(logger_, "device_info is null in publishDepthPointCloud");
return;
}
auto pid = device_info->pid();
if (depth_registration_ || pid == DABAI_MAX_PID) {
camera_params.depthIntrinsic = camera_params.rgbIntrinsic;
@@ -2744,10 +2754,20 @@ void OBCameraNode::publishColoredPointCloud(const std::shared_ptr<ob::FrameSet>
return;
}
CHECK_NOTNULL(pipeline_);
if (!pipeline_) {
RCLCPP_ERROR_STREAM(logger_, "pipeline is null in publishColoredPointCloud");
return;
}
auto camera_params = pipeline_->getCameraParam();
if (!device_) {
RCLCPP_ERROR_STREAM(logger_, "device is null in publishColoredPointCloud");
return;
}
auto device_info = device_->getDeviceInfo();
CHECK_NOTNULL(device_info.get());
if (!device_info || !device_info.get()) {
RCLCPP_ERROR_STREAM(logger_, "device_info is null in publishColoredPointCloud");
return;
}
auto pid = device_info->pid();
if (depth_registration_ || pid == DABAI_MAX_PID) {
camera_params.depthIntrinsic = camera_params.rgbIntrinsic;
@@ -3464,8 +3484,15 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
int height = static_cast<int>(video_frame->getHeight());
auto frame_timestamp = getFrameTimestampUs(frame);
auto timestamp = fromUsToROSTime(frame_timestamp);
if (!device_) {
RCLCPP_ERROR_STREAM(logger_, "device is null in onNewFrameCallback");
return;
}
auto device_info = device_->getDeviceInfo();
CHECK_NOTNULL(device_info);
if (!device_info || !device_info.get()) {
RCLCPP_ERROR_STREAM(logger_, "device_info is null in onNewFrameCallback");
return;
}
auto pid = device_info->getPid();
OBCameraIntrinsic intrinsic;
OBCameraDistortion distortion;