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fixed crash

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This commit is contained in:
Joe Dong
2023-02-13 15:34:44 +08:00
parent 1d1b35f020
commit c06918fb45
4 changed files with 60 additions and 23 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+9 -3
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@@ -120,9 +120,13 @@ class OBCameraNode {
void setupTopics();
void setupPipelineConfig();
void setupCameraCtrlServices();
void startPipeline();
void startStreams();
void stopStreams();
void setupDefaultImageFormat();
@@ -218,7 +222,8 @@ class OBCameraNode {
rclcpp::Logger logger_;
std::atomic_bool is_running_{false};
std::unique_ptr<ob::Pipeline> pipeline_ = nullptr;
std::shared_ptr<ob::Config> config_ = nullptr;
std::atomic_bool pipeline_started_{false};
std::shared_ptr<ob::Config> pipeline_config_ = nullptr;
std::map<stream_index_pair, std::shared_ptr<ob::Sensor>> sensors_;
std::map<stream_index_pair, ob_camera_intrinsic> stream_intrinsics_;
std::map<stream_index_pair, sensor_msgs::msg::CameraInfo> camera_infos_;
@@ -237,7 +242,8 @@ class OBCameraNode {
std::map<stream_index_pair, std::string> format_str_;
std::map<stream_index_pair, int> image_format_;
std::map<stream_index_pair, std::vector<std::shared_ptr<ob::VideoStreamProfile>>>
enabled_profiles_;
soupported_profiles_;
std::map<stream_index_pair, std::shared_ptr<ob::StreamProfile>> stream_profile_;
std::map<stream_index_pair, uint32_t> seq_;
std::map<stream_index_pair, cv::Mat> images_;
std::map<stream_index_pair, std::string> encoding_;