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feat: fix HDRMerge filtering crash

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slz
2026-03-30 15:45:21 +08:00
parent 6344b2cfa0
commit c653111d06
1 changed files with 5 additions and 3 deletions
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orbbec_camera/src/ob_camera_node.cpp
+5 -3
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@@ -3084,7 +3084,7 @@ std::shared_ptr<ob::Frame> OBCameraNode::processDepthFrameFilter(
if (filter->isEnabled() && frame != nullptr) {
frame = filter->process(frame);
if (frame == nullptr) {
RCLCPP_ERROR_STREAM(logger_, "Depth filter process failed");
RCLCPP_WARN_STREAM(logger_, "Depth filter process failed, frame is null");
break;
}
}
@@ -3240,8 +3240,10 @@ void OBCameraNode::onNewFrameSetCallback(std::shared_ptr<ob::FrameSet> frame_set
setDisparitySearchOffset();
setDepthAutoExposureROI();
depth_frame = processDepthFrameFilter(depth_frame);
frame_set->pushFrame(depth_frame);
fps_counter_depth_->tick();
if (depth_frame) {
frame_set->pushFrame(depth_frame);
fps_counter_depth_->tick();
}
}
if (color_frame) {
setColorAutoExposureROI();