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fixed save point cloud crash

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This commit is contained in:
Joe Dong
2024-06-04 13:53:02 +08:00
parent 3a4f4e2718
commit e95d868830
1 changed files with 2 additions and 3 deletions
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orbbec_camera/src/ob_camera_node.cpp
+2 -3
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@@ -1175,8 +1175,6 @@ void OBCameraNode::publishDepthPointCloud(const std::shared_ptr<ob::FrameSet> &f
std::string frame_id = depth_registration_ ? optical_frame_id_[COLOR] : optical_frame_id_[DEPTH]; std::string frame_id = depth_registration_ ? optical_frame_id_[COLOR] : optical_frame_id_[DEPTH];
point_cloud_msg->header.stamp = timestamp; point_cloud_msg->header.stamp = timestamp;
point_cloud_msg->header.frame_id = frame_id; point_cloud_msg->header.frame_id = frame_id;
depth_cloud_pub_->publish(std::move(point_cloud_msg));
if (save_point_cloud_) { if (save_point_cloud_) {
save_point_cloud_ = false; save_point_cloud_ = false;
auto now = std::time(nullptr); auto now = std::time(nullptr);
@@ -1194,6 +1192,7 @@ void OBCameraNode::publishDepthPointCloud(const std::shared_ptr<ob::FrameSet> &f
RCLCPP_ERROR_STREAM(logger_, "Failed to save point cloud: " << e.what()); RCLCPP_ERROR_STREAM(logger_, "Failed to save point cloud: " << e.what());
} }
} }
depth_cloud_pub_->publish(std::move(point_cloud_msg));
} }
void OBCameraNode::publishColoredPointCloud(const std::shared_ptr<ob::FrameSet> &frame_set) { void OBCameraNode::publishColoredPointCloud(const std::shared_ptr<ob::FrameSet> &frame_set) {
@@ -1297,7 +1296,6 @@ void OBCameraNode::publishColoredPointCloud(const std::shared_ptr<ob::FrameSet>
: fromUsToROSTime(depth_frame->systemTimeStampUs()); : fromUsToROSTime(depth_frame->systemTimeStampUs());
point_cloud_msg->header.stamp = timestamp; point_cloud_msg->header.stamp = timestamp;
point_cloud_msg->header.frame_id = optical_frame_id_[COLOR]; point_cloud_msg->header.frame_id = optical_frame_id_[COLOR];
depth_registration_cloud_pub_->publish(std::move(point_cloud_msg));
if (save_colored_point_cloud_) { if (save_colored_point_cloud_) {
save_colored_point_cloud_ = false; save_colored_point_cloud_ = false;
auto now = std::time(nullptr); auto now = std::time(nullptr);
@@ -1317,6 +1315,7 @@ void OBCameraNode::publishColoredPointCloud(const std::shared_ptr<ob::FrameSet>
RCLCPP_ERROR(logger_, "Failed to save point cloud"); RCLCPP_ERROR(logger_, "Failed to save point cloud");
} }
} }
depth_registration_cloud_pub_->publish(std::move(point_cloud_msg));
} }
std::shared_ptr<ob::Frame> OBCameraNode::processDepthFrameFilter( std::shared_ptr<ob::Frame> OBCameraNode::processDepthFrameFilter(