From f14a9467cb99bcd9c67b58285cf3cdd5efe4a864 Mon Sep 17 00:00:00 2001
From: hexbabe <sean.xiaochen.yu@gmail.com>
Date: Thu, 20 Jun 2024 12:05:49 -0400
Subject: [PATCH] Make color frame cast to video frame more safe

---
 src/encoding.hpp | 16 ++++++++++++----
 1 file changed, 12 insertions(+), 4 deletions(-)

diff --git a/src/encoding.hpp b/src/encoding.hpp
index 6cebabc..15af983 100644
--- a/src/encoding.hpp
+++ b/src/encoding.hpp
@@ -296,10 +296,18 @@ std::vector<unsigned char> rsPointsToPCDBytes(const rs2::points& points, const r
 
     if (hasColor && colorFrame) {
         colorData = static_cast<const uint8_t*>(colorFrame.get_data());
-        width = colorFrame.as<rs2::video_frame>().get_width();
-        height = colorFrame.as<rs2::video_frame>().get_height();
-        if (width <= 0 || height <= 0) {
-            throw std::runtime_error("Error processing point cloud: color frame dimensions must be positive non-zero values"); 
+        auto video_frame = dynamic_cast<const rs2::video_frame*>(&colorFrame);
+        if (video_frame) {
+            width = video_frame->get_width();
+            height = video_frame->get_height();
+            if (width <= 0 || height <= 0) {
+                std::string error_msg = "Error processing point cloud: color frame dimensions must be positive "
+                                        "non-zero values. Received dimensions: " + std::to_string(width) + "x" + 
+                                        std::to_string(height);
+                throw std::runtime_error(error_msg);
+            }
+        } else {
+            throw std::runtime_error("Error processing point cloud: color frame incompatible as video frame")
         }
     }