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Fix depth filter process when frame is nullptr

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This commit is contained in:
Joe Dong
2024-05-11 15:28:19 +08:00
parent e2fec5a2a2
commit 5646cae16f
2 changed files with 5 additions and 4 deletions
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orbbec_camera/CMakeLists.txt
+1
View File
@@ -117,6 +117,7 @@ set(COMMON_LIBRARIES
-lOrbbecSDK -lOrbbecSDK
-L${ORBBEC_LIBS_DIR} -L${ORBBEC_LIBS_DIR}
Threads::Threads Threads::Threads
-lrt
) )
if (USE_RK_HW_DECODER) if (USE_RK_HW_DECODER)
list(APPEND COMMON_LIBRARIES list(APPEND COMMON_LIBRARIES
orbbec_camera/src/ob_camera_node.cpp
+4 -4
View File
@@ -1255,7 +1255,7 @@ std::shared_ptr<ob::Frame> OBCameraNode::processDepthFrameFilter(
for (size_t i = 0; i < filter_list->count(); i++) { for (size_t i = 0; i < filter_list->count(); i++) {
auto filter = filter_list->getFilter(i); auto filter = filter_list->getFilter(i);
CHECK_NOTNULL(filter.get()); CHECK_NOTNULL(filter.get());
if (filter->isEnabled()) { if (filter->isEnabled() && frame != nullptr) {
frame = filter->process(frame); frame = filter->process(frame);
if (frame == nullptr) { if (frame == nullptr) {
RCLCPP_ERROR_STREAM(logger_, "Depth filter process failed"); RCLCPP_ERROR_STREAM(logger_, "Depth filter process failed");
@@ -1286,9 +1286,9 @@ void OBCameraNode::onNewFrameSetCallback(std::shared_ptr<ob::FrameSet> frame_set
auto device_info = device_->getDeviceInfo(); auto device_info = device_->getDeviceInfo();
CHECK_NOTNULL(device_info.get()); CHECK_NOTNULL(device_info.get());
auto pid = device_info->pid(); auto pid = device_info->pid();
auto color_frame = frame_set->getFrame(OB_FRAME_COLOR);
if (isGemini335PID(pid)) { if (isGemini335PID(pid)) {
if (depth_registration_ && align_filter_ && depth_frame_) { if (depth_registration_ && align_filter_ && depth_frame_ && color_frame) {
auto new_frame = align_filter_->process(frame_set); auto new_frame = align_filter_->process(frame_set);
if (new_frame) { if (new_frame) {
auto new_frame_set = new_frame->as<ob::FrameSet>(); auto new_frame_set = new_frame->as<ob::FrameSet>();
@@ -1298,7 +1298,7 @@ void OBCameraNode::onNewFrameSetCallback(std::shared_ptr<ob::FrameSet> frame_set
} }
depth_frame_ = processDepthFrameFilter(depth_frame_); depth_frame_ = processDepthFrameFilter(depth_frame_);
} }
auto color_frame = frame_set->getFrame(OB_FRAME_COLOR);
if (enable_stream_[COLOR] && color_frame) { if (enable_stream_[COLOR] && color_frame) {
std::unique_lock<std::mutex> lock(color_frame_queue_lock_); std::unique_lock<std::mutex> lock(color_frame_queue_lock_);
color_frame_queue_.push(frame_set); color_frame_queue_.push(frame_set);