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fixed maybe crash #60

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This commit is contained in:
Joe Dong
2024-09-18 18:50:48 +08:00
parent 4007e9fbdb
commit cdd1c9fbd9
1 changed files with 8 additions and 0 deletions
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orbbec_camera/src/ob_camera_node.cpp
+8
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@@ -1383,6 +1383,10 @@ void OBCameraNode::publishDepthPointCloud(const std::shared_ptr<ob::FrameSet> &f
return; return;
} }
std::lock_guard<decltype(point_cloud_mutex_)> point_cloud_msg_lock(point_cloud_mutex_); std::lock_guard<decltype(point_cloud_mutex_)> point_cloud_msg_lock(point_cloud_mutex_);
if(!depth_frame_) {
RCLCPP_ERROR_STREAM(logger_, "depth frame is null");
return;
}
auto depth_frame = depth_frame_->as<ob::DepthFrame>(); auto depth_frame = depth_frame_->as<ob::DepthFrame>();
if (!depth_frame) { if (!depth_frame) {
RCLCPP_ERROR_STREAM(logger_, "depth frame is null"); RCLCPP_ERROR_STREAM(logger_, "depth frame is null");
@@ -1482,6 +1486,10 @@ void OBCameraNode::publishColoredPointCloud(const std::shared_ptr<ob::FrameSet>
CHECK_NOTNULL(depth_frame_.get()); CHECK_NOTNULL(depth_frame_.get());
std::lock_guard<decltype(point_cloud_mutex_)> point_cloud_msg_lock(point_cloud_mutex_); std::lock_guard<decltype(point_cloud_mutex_)> point_cloud_msg_lock(point_cloud_mutex_);
if (!depth_frame_) {
RCLCPP_ERROR_STREAM(logger_, "depth frame is null");
return;
}
auto depth_frame = depth_frame_->as<ob::DepthFrame>(); auto depth_frame = depth_frame_->as<ob::DepthFrame>();
auto color_frame = frame_set->colorFrame(); auto color_frame = frame_set->colorFrame();
if (!depth_frame || !color_frame) { if (!depth_frame || !color_frame) {