[sample][fix]: fix nullptr bug

orbbec · Jun 20, 2024 · 2402ac0 · 2402ac0
1 parent f6580c8
commit 2402ac0
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Showing 5 changed files with 51 additions and 21 deletions.
diff --git a/examples/0.basic.quick_start/quick_start.cpp b/examples/0.basic.quick_start/quick_start.cpp
@@ -23,14 +23,19 @@ int main(void) try {
         }
 
         // Get the depth from the frameSet.
-        auto depthFrame = frameSet->getFrame(OB_FRAME_DEPTH)->as<ob::DepthFrame>();
+        auto dFrame = frameSet->getFrame(OB_FRAME_DEPTH);
         // Get the color from the frameSet.
-        auto colorFrame = frameSet->getFrame(OB_FRAME_COLOR)->as<ob::ColorFrame>();
-
-        if((depthFrame != nullptr) && (colorFrame != nullptr)){
-            // Render frame in the window.
-            app.addToRender({colorFrame, depthFrame});
+        auto cFrame = frameSet->getFrame(OB_FRAME_COLOR);
+        if(dFrame && cFrame) {
+            auto depthFrame = dFrame->as<ob::DepthFrame>();
+            auto colorFrame = cFrame->as<ob::ColorFrame>();
+
+            if((depthFrame != nullptr) && (colorFrame != nullptr)){
+                // Render frame in the window.
+                app.addToRender({colorFrame, depthFrame});
+            }
         }
+
     }
 
     // Stop the Pipeline, no frame data will be generated

diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
@@ -26,8 +26,8 @@ add_subdirectory(1.stream.imu)
 add_subdirectory(1.stream.infrared)
 add_subdirectory(1.stream.multi_streams)
 # add_subdirectory(2.device.control)
-add_subdirectory(2.device.hot_plugin)
-add_subdirectory(2.device.net_device)
+# add_subdirectory(2.device.hot_plugin)
+# add_subdirectory(2.device.net_device)
 add_subdirectory(3.advanced.align)
 # add_subdirectory(3.advanced.coordinate_convert)
 # add_subdirectory(3.advanced.hdr)

diff --git a/examples/c_examples/0.c_quick_start/quick_start.c b/examples/c_examples/0.c_quick_start/quick_start.c
@@ -1,9 +1,31 @@
-#include <stdlib.h>
+#include <stdlib.h>
 #include <stdio.h>
 
 #include <openobsdk/ObSensor.h>
 #include <stdio.h>
 #include "utils.hpp"
+
+#ifdef _WIN32
+    #include <windows.h>
+    long long get_current_timestamp_ms() {
+        FILETIME ft;
+        LARGE_INTEGER li;
+        GetSystemTimeAsFileTime(&ft);
+        li.LowPart = ft.dwLowDateTime;
+        li.HighPart = ft.dwHighDateTime;
+        long long milliseconds = li.QuadPart / 10000LL;
+        return milliseconds;
+    }
+#else
+    #include <sys/time.h>
+    long long get_current_timestamp_ms() {
+        struct timeval te;
+        gettimeofday(&te, NULL); // 获取当前时间
+        long long milliseconds = te.tv_sec * 1000LL + te.tv_usec / 1000; // 计算毫秒
+        return milliseconds;
+    }
+#endif
+
 #define ESC 27
 
 static float color_count = 0;
@@ -61,11 +83,11 @@ int main(void) {
             if(color_frame != NULL) {
                 color_count++;
                 // Get timestamp from color frame.
-                color_timestamp_current = ob_frame_get_timestamp_us(color_frame, &error);
+                color_timestamp_current = get_current_timestamp_ms();
                 uint64_t duration       = color_timestamp_current - color_timestamp_last;
-                if(duration > 3000000) {  // 3 seconds
+                if(duration > 3000) {  // 3 seconds
                     // Print index and rate of color frame.
-                    printf("color frame index: %lld, rate: %f\n", ob_frame_get_index(color_frame, &error), color_count / (duration / 1000000.0));
+                    printf("color frame index: %lld, rate: %f\n", ob_frame_get_index(color_frame, &error), color_count / (duration / 1000.0));
                     color_count          = 0;
                     color_timestamp_last = color_timestamp_current;
                 }
@@ -76,11 +98,11 @@ int main(void) {
             if(depth_frame != NULL) {
                 depth_count++;
                 // Get timestamp from depth frame.
-                depth_timestamp_current = ob_frame_get_timestamp_us(depth_frame, &error);
+                depth_timestamp_current = get_current_timestamp_ms();
                 uint64_t duration       = depth_timestamp_current - depth_timestamp_last;
-                if(duration > 3000000) {  // 3 seconds
+                if(duration > 3000) {  // 3 seconds
                     // Print index and rate of depth frame.
-                    printf("depth frame index: %lld, rate: %f\n", ob_frame_get_index(depth_frame, &error), depth_count / (duration / 1000000.0));
+                    printf("depth frame index: %lld, rate: %f\n", ob_frame_get_index(depth_frame, &error), depth_count / (duration / 1000.0));
                     depth_count          = 0;
                     depth_timestamp_last = depth_timestamp_current;
                 }

diff --git a/src/impl/Pipeline.cpp b/src/impl/Pipeline.cpp
@@ -51,8 +51,13 @@ HANDLE_EXCEPTIONS_NO_RETURN(pipeline)
 
 void ob_pipeline_start_with_config(ob_pipeline *pipeline, ob_config *config, ob_error **error) BEGIN_API_CALL {
     VALIDATE_NOT_NULL(pipeline);
-    VALIDATE_NOT_NULL(config);
-    pipeline->pipeline->start(config->config);
+    if (!config) {
+        ob_pipeline_start(pipeline, error);
+    }
+    else {
+        VALIDATE_NOT_NULL(config);
+        pipeline->pipeline->start(config->config);
+    }
 }
 HANDLE_EXCEPTIONS_NO_RETURN(pipeline)
 

diff --git a/src/shared/envconfig/OrbbecSDKConfig.xml b/src/shared/envconfig/OrbbecSDKConfig.xml
@@ -75,9 +75,11 @@
     <Device>
         <EnumerateNetDevice>false</EnumerateNetDevice>
 
+
         <!--UVC Backend select on Linux; optional values: Auto, V4L2, LibUVC; Auto is the default value-->
         <LinuxUVCBackend>LibUVC</LinuxUVCBackend>
 
+
         <!--The device corresponding to Astra adv is astra+-->
         <AstraAdv>
             <Depth>
@@ -1356,7 +1358,6 @@
 	        <DefaultHeartBeat>0</DefaultHeartBeat>
 			<!--Whether to enable firmware upgrade foolproof by default, only internal version supports-->
 			<FirmwareUpgradeFoolproof>1</FirmwareUpgradeFoolproof>
-
             <!-- Depth Filter Params -->
             <!--
             <DepthFilterDDOConfig>./Gemini2_v1.0.json</DepthFilterDDOConfig>
@@ -2384,7 +2385,6 @@
                 <Format>Y8</Format>
             </IR_RIGHT>
         </OrbbecGemini335>
-
 		   <!--Gemini2RL config-->
         <OrbbecGemini335L>
 	        <!--Whether to enable heartbeat by default-->
@@ -2450,7 +2450,6 @@
                 <Format>Y8</Format>
             </IR_RIGHT>
         </OrbbecGemini335L>
-
         <!--Gemini 336 config-->
         <OrbbecGemini336>
 	        <!--Whether to enable heartbeat by default-->
@@ -2516,7 +2515,6 @@
                 <Format>Y8</Format>
             </IR_RIGHT>
         </OrbbecGemini336>
-
 		<!--Gemini 336L config-->
         <OrbbecGemini336L>
 	        <!--Whether to enable heartbeat by default-->