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Fix multi_save_rgbir_node crash

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This commit is contained in:
jj
2024-12-16 09:32:56 +08:00
parent 56124dbcf7
commit e898eb44fc
1 changed files with 11 additions and 12 deletions
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orbbec_camera/tools/multi_save_rgbir_node.hpp
+11 -12
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@@ -94,6 +94,17 @@ class MultiCameraSubscriber : public rclcpp::Node {
}
}
void topic_init() {
ir_image_buffers_.resize(left_ir_topics_.size());
color_image_buffers_.resize(left_ir_topics_.size());
ir_current_timestamp_buffers_.resize(left_ir_topics_.size());
color_current_timestamp_buffers_.resize(left_ir_topics_.size());
ir_timestamp_buffers_.resize(left_ir_topics_.size());
color_timestamp_buffers_.resize(left_ir_topics_.size());
left_ir_metadata_.exposure_buffs.resize(left_ir_topics_.size());
left_ir_metadata_.gain_buffs.resize(left_ir_topics_.size());
color_metadata_.exposure_buffs.resize(left_ir_topics_.size());
color_metadata_.gain_buffs.resize(left_ir_topics_.size());
callback_called_ = std::vector<bool>(left_ir_topics_.size(), false);
auto custom_qos = rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_default));
RCLCPP_INFO_STREAM(rclcpp::get_logger("multi_camera_subscriber"),
"camera_name_.size(): " << camera_name_.size());
@@ -143,18 +154,6 @@ class MultiCameraSubscriber : public rclcpp::Node {
ir_meta_subscribers_.push_back(ir_metadata_sub);
color_subscribers_.push_back(color_sub);
color_meta_subscribers_.push_back(color_metadata_sub);
ir_image_buffers_.resize(left_ir_topics_.size());
color_image_buffers_.resize(left_ir_topics_.size());
ir_current_timestamp_buffers_.resize(left_ir_topics_.size());
color_current_timestamp_buffers_.resize(left_ir_topics_.size());
ir_timestamp_buffers_.resize(left_ir_topics_.size());
color_timestamp_buffers_.resize(left_ir_topics_.size());
left_ir_metadata_.exposure_buffs.resize(left_ir_topics_.size());
left_ir_metadata_.gain_buffs.resize(left_ir_topics_.size());
color_metadata_.exposure_buffs.resize(left_ir_topics_.size());
color_metadata_.gain_buffs.resize(left_ir_topics_.size());
callback_called_ = std::vector<bool>(left_ir_topics_.size(), false);
}
}
std::string getCurrentTimes() {