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Fixed crash

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This commit is contained in:
Joe Dong
2024-04-13 15:35:14 +08:00
parent 5f7d2ab1bf
commit 5a87a99a07
1 changed files with 8 additions and 4 deletions
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orbbec_camera/src/ob_camera_node.cpp
+8 -4
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@@ -306,10 +306,10 @@ void OBCameraNode::setupProfiles() {
for (size_t i = 0; i < profiles->count(); i++) { for (size_t i = 0; i < profiles->count(); i++) {
auto profile = profiles->getProfile(i)->as<ob::VideoStreamProfile>(); auto profile = profiles->getProfile(i)->as<ob::VideoStreamProfile>();
RCLCPP_DEBUG_STREAM( RCLCPP_DEBUG_STREAM(
logger_, "Sensor profile: " logger_,
<< "stream_type: " << magic_enum::enum_name(profile->type()) "Sensor profile: " << "stream_type: " << magic_enum::enum_name(profile->type())
<< "Format: " << profile->format() << ", Width: " << profile->width() << "Format: " << profile->format() << ", Width: " << profile->width()
<< ", Height: " << profile->height() << ", FPS: " << profile->fps()); << ", Height: " << profile->height() << ", FPS: " << profile->fps());
supported_profiles_[elem].emplace_back(profile); supported_profiles_[elem].emplace_back(profile);
} }
std::shared_ptr<ob::VideoStreamProfile> selected_profile; std::shared_ptr<ob::VideoStreamProfile> selected_profile;
@@ -1657,6 +1657,10 @@ void OBCameraNode::calcAndPublishStaticTransform() {
quaternion_optical.setRPY(-M_PI / 2, 0.0, -M_PI / 2); quaternion_optical.setRPY(-M_PI / 2, 0.0, -M_PI / 2);
tf2::Vector3 zero_trans(0, 0, 0); tf2::Vector3 zero_trans(0, 0, 0);
auto base_stream_profile = stream_profile_[base_stream_]; auto base_stream_profile = stream_profile_[base_stream_];
if (!base_stream_profile) {
RCLCPP_ERROR_STREAM(logger_, "Failed to get base stream profile");
return;
}
CHECK_NOTNULL(base_stream_profile.get()); CHECK_NOTNULL(base_stream_profile.get());
for (const auto &item : stream_profile_) { for (const auto &item : stream_profile_) {
auto stream_index = item.first; auto stream_index = item.first;