Merge pull request #42 from cacheflowe/master

Add defensive checks for null `frame`
cansik · Oct 21, 2023 · 0fbc9e5 · 0fbc9e5
2 parents e855c14 + 7706ab7
commit 0fbc9e5
Showing 1 changed file with 44 additions and 27 deletions.
diff --git a/src/main/java/ch/bildspur/realsense/RealSenseCamera.java b/src/main/java/ch/bildspur/realsense/RealSenseCamera.java
@@ -308,55 +308,66 @@ public void readFrames() {
 
         if (align.isEnabled()) {
             FrameList temp = align.getBlock().process(frames);
-            frames.release();
+            if (frames != null) frames.release();
             frames = temp;
         }
 
         // copy streams
         if (depthStream.isEnabled()) {
             DepthFrame frame = frames.getDepthFrame();
+            if (frame != null) {
+
+                // apply depth filter
+                if (!filters.isEmpty()) {
+                    for (RSFilterBlock filter : filters) {
+                        DepthFrame temp = filter.getBlock().process(frame);
+                        frame.release();
+                        frame = temp;
+                    }
+                }
 
-            // apply depth filter
-            if (!filters.isEmpty()) {
-                for (RSFilterBlock filter : filters) {
-                    DepthFrame temp = filter.getBlock().process(frame);
-                    frame.release();
-                    frame = temp;
+                // update colors if colorized is there
+                if (colorizer.isEnabled()) {
+                    VideoFrame coloredFrame = colorizer.getBlock().colorize(frame);
+                    if(coloredFrame != null) {
+                        depthStream.copyPixels(coloredFrame);
+                        coloredFrame.release();
+                    }
                 }
-            }
 
-            // update colors if colorized is there
-            if (colorizer.isEnabled()) {
-                VideoFrame coloredFrame = colorizer.getBlock().colorize(frame);
-                depthStream.copyPixels(coloredFrame);
-                coloredFrame.release();
+                frame.release();
             }
-
-            frame.release();
         }
 
         if (colorStream.isEnabled()) {
             VideoFrame frame = frames.getColorFrame();
-            colorStream.copyPixels(frame);
-            frame.release();
+            if (frame != null) {
+                colorStream.copyPixels(frame);
+                frame.release();
+            }
         }
 
         if (firstIRStream.isEnabled()) {
             VideoFrame frame = getStreamByIndex(frames, Stream.Infrared, Format.Any, firstIRStream.getIndex());
-            firstIRStream.copyPixels(frame);
-            frame.release();
+            if (frame != null) {
+                firstIRStream.copyPixels(frame);
+                frame.release();
+            }
         }
 
         if (secondIRStream.isEnabled()) {
             VideoFrame frame = getStreamByIndex(frames, Stream.Infrared, Format.Any, secondIRStream.getIndex());
-            secondIRStream.copyPixels(frame);
-            frame.release();
+            if (frame != null) {
+                secondIRStream.copyPixels(frame);
+                frame.release();
+            }
         }
 
         if (poseStream.isEnabled()) {
             PoseFrame frame = frames.getPoseFrame();
-
-            frame.release();
+            if (frame != null) {
+                frame.release();
+            }
         }
     }
 
@@ -368,7 +379,9 @@ private <T extends Frame> T getStreamByIndex(FrameList frames, Stream stream, Fo
                     && frame.getProfile().getIndex() == index) {
                 return (T) frame;
             }
-            frame.release();
+            if (frame != null) {
+                frame.release();
+            }
         }
         return null;
     }
@@ -620,9 +633,13 @@ public PVector getProjectedPoint(int x, int y) {
     public short[][] getDepthData() {
         checkRunning();
 
-        DepthFrame frame = frames.getDepthFrame();
-        depthStream.updateDepthData(frame);
-        frame.release();
+        if (frames != null) {
+            DepthFrame frame = frames.getDepthFrame();
+            if (frame != null) {
+                depthStream.updateDepthData(frame);
+                frame.release();
+            }
+        }
         return depthStream.getData();
     }