Commit 1a29daee authored by Alejandro Lopez Gestoso's avatar Alejandro Lopez Gestoso
Browse files

Added a piece of code to handle smaller than expected image frames. The frame...

Added a piece of code to handle smaller than expected image frames. The frame is lost, but at least the node does not crash.
parent ca856a7a
...@@ -167,6 +167,12 @@ void CameraDriver::ImageCallback(uvc_frame_t *frame) { ...@@ -167,6 +167,12 @@ void CameraDriver::ImageCallback(uvc_frame_t *frame) {
timestamp = ros::Time::now(); 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_); boost::recursive_mutex::scoped_lock lock(mutex_);
assert(state_ == kRunning); assert(state_ == kRunning);
......
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