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Fixed segmentation fault in depth_image_octomap_updater #2963

Merged
merged 10 commits into from
Aug 13, 2024
+15 −15
Merged

Fixed segmentation fault in depth_image_octomap_updater #2963

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b42ad88
Fixed segmentation fault in depth_image_octomap_updater
CihatAltiparmak Aug 10, 2024
e6115bd
pre-commit fix
CihatAltiparmak Aug 10, 2024
3463264
Convert index type to std::size_t in for loop
CihatAltiparmak Aug 10, 2024
1e6076b
Fixed data type problem in depthImageUpdater
CihatAltiparmak Aug 12, 2024
e10cf87
Merge branch 'main' into fix/segfault_in_depth_image_octomap_updater
CihatAltiparmak Aug 12, 2024
fedd04c
Remove unnecessary for loop
CihatAltiparmak Aug 12, 2024
ed43001
Remove tmp array
CihatAltiparmak Aug 12, 2024
ae37ff8
Merge branch 'main' into fix/segfault_in_depth_image_octomap_updater
CihatAltiparmak Aug 12, 2024
f30f767
Merge branch 'main' into fix/segfault_in_depth_image_octomap_updater
sjahr Aug 12, 2024
68661dd
Merge branch 'main' into fix/segfault_in_depth_image_octomap_updater
CihatAltiparmak Aug 13, 2024
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24 changes: 21 additions & 3 deletions moveit_ros/perception/depth_image_octomap_updater/src/depth_image_octomap_updater.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -438,7 +438,13 @@ void DepthImageOctomapUpdater::depthImageCallback(const sensor_msgs::msg::Image:
debug_msg.encoding = sensor_msgs::image_encodings::TYPE_32FC1;
debug_msg.step = w * sizeof(float);
debug_msg.data.resize(img_size * sizeof(float));
mesh_filter_->getModelDepth(reinterpret_cast<double*>(&debug_msg.data[0]));
std::vector<float> tmp_debug_msg_data;
tmp_debug_msg_data.resize(img_size * sizeof(float));
mesh_filter_->getModelDepth(reinterpret_cast<double*>(&tmp_debug_msg_data[0]));
for (std::size_t i = 0; i < debug_msg.data.size(); ++i)
{
debug_msg.data[i] = static_cast<unsigned short>(tmp_debug_msg_data[i] * 1000 + 0.5);
}
pub_model_depth_image_.publish(debug_msg, *info_msg);

sensor_msgs::msg::Image filtered_depth_msg;
Expand All @@ -449,7 +455,13 @@ void DepthImageOctomapUpdater::depthImageCallback(const sensor_msgs::msg::Image:
filtered_depth_msg.encoding = sensor_msgs::image_encodings::TYPE_32FC1;
filtered_depth_msg.step = w * sizeof(float);
filtered_depth_msg.data.resize(img_size * sizeof(float));
mesh_filter_->getFilteredDepth(reinterpret_cast<double*>(&filtered_depth_msg.data[0]));
std::vector<float> tmp_filtered_depth_msg_data;
tmp_filtered_depth_msg_data.resize(img_size * sizeof(float));
mesh_filter_->getFilteredDepth(reinterpret_cast<double*>(&tmp_filtered_depth_msg_data[0]));
for (std::size_t i = 0; i < filtered_depth_msg.data.size(); ++i)
{
filtered_depth_msg.data[i] = static_cast<unsigned short>(tmp_filtered_depth_msg_data[i] * 1000 + 0.5);
}
pub_filtered_depth_image_.publish(filtered_depth_msg, *info_msg);

sensor_msgs::msg::Image label_msg;
Expand All @@ -460,7 +472,13 @@ void DepthImageOctomapUpdater::depthImageCallback(const sensor_msgs::msg::Image:
label_msg.encoding = sensor_msgs::image_encodings::RGBA8;
label_msg.step = w * sizeof(unsigned int);
label_msg.data.resize(img_size * sizeof(unsigned int));
mesh_filter_->getFilteredLabels(reinterpret_cast<unsigned int*>(&label_msg.data[0]));
std::vector<float> tmp_label_msg_data;
tmp_label_msg_data.resize(img_size * sizeof(unsigned int));
mesh_filter_->getFilteredLabels(reinterpret_cast<unsigned int*>(&tmp_label_msg_data[0]));
for (std::size_t i = 0; i < filtered_depth_msg.data.size(); ++i)
{
label_msg.data[i] = static_cast<unsigned short>(tmp_label_msg_data[i]);
}

pub_filtered_label_image_.publish(label_msg, *info_msg);
}
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