From 7706ab76700ba8f69999d70a64a627a4b8c6e9ca Mon Sep 17 00:00:00 2001
From: cacheflowe <cacheflowe@cacheflowe.com>
Date: Fri, 20 Oct 2023 13:36:24 -0400
Subject: [PATCH] Improved null checks after more testing and finding
 occasional NPE errors

---
 .../bildspur/realsense/RealSenseCamera.java   | 59 +++++++++++--------
 1 file changed, 36 insertions(+), 23 deletions(-)

diff --git a/src/main/java/ch/bildspur/realsense/RealSenseCamera.java b/src/main/java/ch/bildspur/realsense/RealSenseCamera.java
index 65c1db4..de40a5a 100644
--- a/src/main/java/ch/bildspur/realsense/RealSenseCamera.java
+++ b/src/main/java/ch/bildspur/realsense/RealSenseCamera.java
@@ -315,48 +315,59 @@ public void readFrames() {
         // 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);
-                    if (frame != null) 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();
             }
-
-            if (frame != null) frame.release();
         }
 
         if (colorStream.isEnabled()) {
             VideoFrame frame = frames.getColorFrame();
-            colorStream.copyPixels(frame);
-            if (frame != null) 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);
-            if (frame != null) 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);
-            if (frame != null) frame.release();
+            if (frame != null) {
+                secondIRStream.copyPixels(frame);
+                frame.release();
+            }
         }
 
         if (poseStream.isEnabled()) {
             PoseFrame frame = frames.getPoseFrame();
-
-            if (frame != null) 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;
             }
-            if (frame != null) frame.release();
+            if (frame != null) {
+                frame.release();
+            }
         }
         return null;
     }