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1. fix nvblox crash bug

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datean
2024-09-24 13:36:49 +08:00
parent 6a91d3b428
commit ce02d250bd
1 changed files with 15 additions and 14 deletions
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orbbec_camera/src/ob_camera_node.cpp
+15 -14
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@@ -549,14 +549,14 @@ void OBCameraNode::setupDepthPostProcessFilter() {
} else if (filter_name == "NoiseRemovalFilter" && enable_noise_removal_filter_) {
auto noise_removal_filter = filter->as<ob::NoiseRemovalFilter>();
OBNoiseRemovalFilterParams params = noise_removal_filter->getFilterParams();
RCLCPP_INFO_STREAM(
logger_, "Default noise removal filter params: " << "disp_diff: " << params.disp_diff
<< ", max_size: " << params.max_size);
RCLCPP_INFO_STREAM(logger_, "Default noise removal filter params: "
<< "disp_diff: " << params.disp_diff
<< ", max_size: " << params.max_size);
params.disp_diff = noise_removal_filter_min_diff_;
params.max_size = noise_removal_filter_max_size_;
RCLCPP_INFO_STREAM(logger_,
"Set noise removal filter params: " << "disp_diff: " << params.disp_diff
<< ", max_size: " << params.max_size);
RCLCPP_INFO_STREAM(logger_, "Set noise removal filter params: "
<< "disp_diff: " << params.disp_diff
<< ", max_size: " << params.max_size);
if (noise_removal_filter_min_diff_ != -1 && noise_removal_filter_max_size_ != -1) {
noise_removal_filter->setFilterParams(params);
}
@@ -565,11 +565,11 @@ void OBCameraNode::setupDepthPostProcessFilter() {
hdr_merge_gain_2_ != -1) {
auto hdr_merge_filter = filter->as<ob::HdrMerge>();
hdr_merge_filter->enable(true);
RCLCPP_INFO_STREAM(
logger_, "Set HDR merge filter params: " << "exposure_1: " << hdr_merge_exposure_1_
<< ", gain_1: " << hdr_merge_gain_1_
<< ", exposure_2: " << hdr_merge_exposure_2_
<< ", gain_2: " << hdr_merge_gain_2_);
RCLCPP_INFO_STREAM(logger_, "Set HDR merge filter params: "
<< "exposure_1: " << hdr_merge_exposure_1_
<< ", gain_1: " << hdr_merge_gain_1_
<< ", exposure_2: " << hdr_merge_exposure_2_
<< ", gain_2: " << hdr_merge_gain_2_);
auto config = OBHdrConfig();
config.enable = true;
config.exposure_1 = hdr_merge_exposure_1_;
@@ -1686,10 +1686,10 @@ void OBCameraNode::onNewFrameSetCallback(std::shared_ptr<ob::FrameSet> frame_set
CHECK_NOTNULL(device_info.get());
auto pid = device_info->getPid();
auto color_frame = frame_set->getFrame(OB_FRAME_COLOR);
has_first_color_frame_ = has_first_color_frame_ || color_frame;
// has_first_color_frame_ = has_first_color_frame_ || color_frame;
if (isGemini335PID(pid)) {
depth_frame_ = processDepthFrameFilter(depth_frame_);
if (depth_registration_ && align_filter_ && depth_frame_ && has_first_color_frame_) {
if (depth_registration_ && align_filter_ && depth_frame_ && color_frame) {
auto new_frame = align_filter_->process(frame_set);
if (new_frame) {
auto new_frame_set = new_frame->as<ob::FrameSet>();
@@ -1697,6 +1697,7 @@ void OBCameraNode::onNewFrameSetCallback(std::shared_ptr<ob::FrameSet> frame_set
depth_frame_ = new_frame_set->getFrame(OB_FRAME_DEPTH);
} else {
RCLCPP_ERROR(logger_, "Failed to align depth frame to color frame");
return;
}
} else {
RCLCPP_DEBUG(logger_,
@@ -1704,7 +1705,7 @@ void OBCameraNode::onNewFrameSetCallback(std::shared_ptr<ob::FrameSet> frame_set
"null or color frame is null");
return;
}
if (depth_registration_ && align_filter_ && depth_frame_ && !has_first_color_frame_) {
if (depth_registration_ && align_filter_ && depth_frame_ && !color_frame) {
return;
}
}