From 1a29daee6040f22b0e141e2c5632c10b4cda410b Mon Sep 17 00:00:00 2001
From: alopez <alopez@iri.upc.edu>
Date: Wed, 15 Sep 2021 17:05:30 +0200
Subject: [PATCH] Added a piece of code to handle smaller than expected image
frames. The frame is lost, but at least the node does not crash.
---
libuvc_camera/src/camera_driver.cpp | 6 ++++++
1 file changed, 6 insertions(+)
diff --git a/libuvc_camera/src/camera_driver.cpp b/libuvc_camera/src/camera_driver.cpp
index aa4abce..4878060 100644
--- a/libuvc_camera/src/camera_driver.cpp
+++ b/libuvc_camera/src/camera_driver.cpp
@@ -167,6 +167,12 @@ void CameraDriver::ImageCallback(uvc_frame_t *frame) {
timestamp = ros::Time::now();
}
+ if(frame->data_bytes<frame->step*frame->height)
+ {
+ std::cout << "short frame" << std::endl;
+ return;
+ }
+
boost::recursive_mutex::scoped_lock lock(mutex_);
assert(state_ == kRunning);
--
GitLab