CameraRealSense2: refactored for freezing/crash issues on stop

introlab · Jan 18, 2021 · 5d77746 · 5d77746
1 parent 70e9dff
commit 5d77746
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Showing 2 changed files with 83 additions and 98 deletions.
diff --git a/corelib/include/rtabmap/core/camera/CameraRealSense2.h b/corelib/include/rtabmap/core/camera/CameraRealSense2.h
@@ -36,6 +36,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <pcl/pcl_config.h>
 
 #ifdef RTABMAP_REALSENSE2
+#include <librealsense2/rs.hpp>
 #include <librealsense2/hpp/rs_frame.hpp>
 #endif
 
@@ -86,6 +87,7 @@ class RTABMAP_EXP CameraRealSense2 :
 
 #ifdef RTABMAP_REALSENSE2
 private:
+	void close();
 	void imu_callback(rs2::frame frame);
 	void pose_callback(rs2::frame frame);
 	void frame_callback(rs2::frame frame);
@@ -103,14 +105,14 @@ class RTABMAP_EXP CameraRealSense2 :
 
 private:
 #ifdef RTABMAP_REALSENSE2
-	rs2::context * ctx_;
-	std::vector<rs2::device *> dev_;
+	rs2::context ctx_;
+	std::vector<rs2::device> dev_;
 	std::string deviceId_;
-	rs2::syncer * syncer_;
+	rs2::syncer syncer_;
 	float depth_scale_meters_;
-	rs2_intrinsics * depthIntrinsics_;
-	rs2_intrinsics * rgbIntrinsics_;
-	rs2_extrinsics * depthToRGBExtrinsics_;
+	rs2_intrinsics depthIntrinsics_;
+	rs2_intrinsics rgbIntrinsics_;
+	rs2_extrinsics depthToRGBExtrinsics_;
 	cv::Mat depthBuffer_;
 	cv::Mat rgbBuffer_;
 	CameraModel model_;