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[tool]Fix the crash problem caused by multi_save_rgbir_node when saving images

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This commit is contained in:
jj
2024-12-18 17:29:03 +08:00
parent ad3aea859e
commit bc83801070
2 changed files with 11 additions and 11 deletions
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orbbec_camera/src/ob_camera_node_driver.cpp
+8 -8
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@@ -163,15 +163,15 @@ void OBCameraNodeDriver::init() {
net_device_port_ = static_cast<int>(declare_parameter<int>("net_device_port", 0)); net_device_port_ = static_cast<int>(declare_parameter<int>("net_device_port", 0));
enumerate_net_device_ = declare_parameter<bool>("enumerate_net_device", false); enumerate_net_device_ = declare_parameter<bool>("enumerate_net_device", false);
uvc_backend_ = declare_parameter<std::string>("uvc_backend", "libuvc"); uvc_backend_ = declare_parameter<std::string>("uvc_backend", "libuvc");
if(uvc_backend_=="libuvc"){ if (uvc_backend_ == "libuvc") {
ctx_->setUvcBackendType(OB_UVC_BACKEND_TYPE_LIBUVC);
RCLCPP_INFO_STREAM(logger_, "setUvcBackendType:"<<uvc_backend_);
}else if(uvc_backend_=="v4l2"){
ctx_->setUvcBackendType(OB_UVC_BACKEND_TYPE_V4L2);
RCLCPP_INFO_STREAM(logger_, "setUvcBackendType:"<<uvc_backend_);
}else{
ctx_->setUvcBackendType(OB_UVC_BACKEND_TYPE_LIBUVC); ctx_->setUvcBackendType(OB_UVC_BACKEND_TYPE_LIBUVC);
RCLCPP_INFO_STREAM(logger_, "setUvcBackendType:"<<uvc_backend_); RCLCPP_INFO_STREAM(logger_, "setUvcBackendType:" << uvc_backend_);
} else if (uvc_backend_ == "v4l2") {
ctx_->setUvcBackendType(OB_UVC_BACKEND_TYPE_V4L2);
RCLCPP_INFO_STREAM(logger_, "setUvcBackendType:" << uvc_backend_);
} else {
ctx_->setUvcBackendType(OB_UVC_BACKEND_TYPE_LIBUVC);
RCLCPP_INFO_STREAM(logger_, "setUvcBackendType:" << uvc_backend_);
} }
ctx_->enableNetDeviceEnumeration(enumerate_net_device_); ctx_->enableNetDeviceEnumeration(enumerate_net_device_);
ctx_->setDeviceChangedCallback([this](const std::shared_ptr<ob::DeviceList> &removed_list, ctx_->setDeviceChangedCallback([this](const std::shared_ptr<ob::DeviceList> &removed_list,
orbbec_camera/tools/multi_save_rgbir_node.hpp
+3 -3
View File
@@ -236,7 +236,7 @@ class MultiCameraSubscriber : public rclcpp::Node {
std::string ir_filename = folder + "/ir#left_SN" + serial_index + "_Index" + std::string ir_filename = folder + "/ir#left_SN" + serial_index + "_Index" +
std::to_string(usb_index) + time_domain_ + std::to_string(usb_index) + time_domain_ +
ir_current_timestamps[i] + "_f" + std::to_string(i) + "_s" + ir_current_timestamps[i] + "_f" + std::to_string(i) + "_s" +
ir_timestamps[i] + "_e" + left_ir_meta_exposure[i] + "_g" + ir_timestamps[i] + "_e" + left_ir_meta_exposure[i] + "_d" +
left_ir_meta_gain[i] + "_.jpg"; left_ir_meta_gain[i] + "_.jpg";
if (ir_images[i].empty()) { if (ir_images[i].empty()) {
RCLCPP_INFO_STREAM(rclcpp::get_logger("multi_camera_subscriber"), "over "); RCLCPP_INFO_STREAM(rclcpp::get_logger("multi_camera_subscriber"), "over ");
@@ -247,7 +247,7 @@ class MultiCameraSubscriber : public rclcpp::Node {
std::string color_filename = std::string color_filename =
folder + "/color_SN" + serial_index + "_Index" + std::to_string(usb_index) + folder + "/color_SN" + serial_index + "_Index" + std::to_string(usb_index) +
time_domain_ + color_current_timestamps[i] + "_f" + std::to_string(i) + "_s" + time_domain_ + color_current_timestamps[i] + "_f" + std::to_string(i) + "_s" +
color_timestamps[i] + "_e" + color_meta_exposure[i] + "_g" + color_meta_gain[i] + "_.jpg"; color_timestamps[i] + "_e" + color_meta_exposure[i] + "_d" + color_meta_gain[i] + "_.jpg";
if (color_images[i].empty()) { if (color_images[i].empty()) {
continue; continue;
} }
@@ -398,4 +398,4 @@ class MultiCameraSubscriber : public rclcpp::Node {
ImageMetadata color_metadata_ = ImageMetadata(); ImageMetadata color_metadata_ = ImageMetadata();
}; };
} // namespace tools } // namespace tools
} // namespace orbbec_camera } // namespace orbbec_camera