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Merged
adujardin merged 3 commits into from
Mar 3, 2016
Merged

Use unique_ptr #22

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09d4246
Use unique_ptr
eric-wieser Feb 29, 2016
81a47b0
Use nullptr, not NULL
eric-wieser Mar 1, 2016
17f0b9c
Use reset, not operator=
eric-wieser Mar 1, 2016
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23 changes: 11 additions & 12 deletions src/zed_wrapper_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -35,6 +35,7 @@
#include <limits>
#include <thread>
#include <chrono>
#include <memory>

//ROS includes
#include <ros/ros.h>
Expand Down Expand Up @@ -298,12 +299,12 @@ int main(int argc, char **argv) {
nh_ns.getParam("cloud_frame_id", cloud_frame_id);

// Create the ZED object
sl::zed::Camera *zed;
std::unique_ptr<sl::zed::Camera> zed;
if (argc == 2) {
zed = new sl::zed::Camera(argv[1]); // Argument "svo_file" in launch file
zed.reset(new sl::zed::Camera(argv[1])); // Argument "svo_file" in launch file
ROS_INFO_STREAM("Reading SVO file : " << argv[1]);
} else {
zed = new sl::zed::Camera(static_cast<sl::zed::ZEDResolution_mode> (resolution), rate);
zed.reset(new sl::zed::Camera(static_cast<sl::zed::ZEDResolution_mode> (resolution), rate));
ROS_INFO_STREAM("Using ZED Camera");
}

Expand Down Expand Up @@ -370,14 +371,14 @@ int main(int argc, char **argv) {
sensor_msgs::CameraInfoPtr left_cam_info_msg(new sensor_msgs::CameraInfo());
sensor_msgs::CameraInfoPtr right_cam_info_msg(new sensor_msgs::CameraInfo());
sensor_msgs::CameraInfoPtr depth_cam_info_msg(new sensor_msgs::CameraInfo());
fillCamInfo(zed, left_cam_info_msg, right_cam_info_msg, left_frame_id, right_frame_id);
fillCamInfo(zed.get(), left_cam_info_msg, right_cam_info_msg, left_frame_id, right_frame_id);
rgb_cam_info_msg = depth_cam_info_msg = left_cam_info_msg; // the reference camera is the Left one (next to the ZED logo)

ros::Rate loop_rate(rate);
ros::Time old_t = ros::Time::now();
bool old_image = false;
pointCloudThreadRunning = false;
std::thread* pointCloudThread = NULL;
std::unique_ptr<std::thread> pointCloudThread = nullptr;

try {
// Main loop
Expand Down Expand Up @@ -408,13 +409,13 @@ int main(int argc, char **argv) {
ROS_WARN("Wait for a new image to proceed");
std::this_thread::sleep_for(std::chrono::milliseconds(2));
if ((t - old_t).toSec() > 5) {
sl::zed::Camera* corruptedObject = zed;
delete corruptedObject;
// delete the old object before constructing a new one
zed.reset();
if (argc == 2) {
zed = new sl::zed::Camera(argv[1]); // Argument "svo_file" in launch file
zed.reset(new sl::zed::Camera(argv[1])); // Argument "svo_file" in launch file
ROS_INFO_STREAM("Reading SVO file : " << argv[1]);
} else {
zed = new sl::zed::Camera(static_cast<sl::zed::ZEDResolution_mode> (resolution), rate);
zed.reset(new sl::zed::Camera(static_cast<sl::zed::ZEDResolution_mode> (resolution), rate));
ROS_INFO_STREAM("Using ZED Camera");
}
ROS_INFO("Reinit camera");
Expand Down Expand Up @@ -467,7 +468,7 @@ int main(int argc, char **argv) {
pointCloudThreadRunning = true;
if(pointCloudThread)
pointCloudThread->join();
pointCloudThread = new std::thread(&publishPointCloud, cloud, width, height, std::ref(pub_cloud), cloud_frame_id, t);
pointCloudThread.reset(new std::thread(&publishPointCloud, cloud, width, height, std::ref(pub_cloud), cloud_frame_id, t));

}

Expand All @@ -481,7 +482,5 @@ int main(int argc, char **argv) {
}
ROS_INFO("Quitting zed_depth_stereo_wrapper_node ...\n");

delete zed;

return 0;
}