From a1acd81deeb4b5ffcfd0d829279e203ed7630484 Mon Sep 17 00:00:00 2001
From: ARMAR-6 User <armar6@kit.edu>
Date: Thu, 24 Nov 2022 10:05:22 +0100
Subject: [PATCH] handling case when body frames are just not available yet
---
.../AzureKinectPointCloudProvider.cpp | 13 ++++++++++++-
1 file changed, 12 insertions(+), 1 deletion(-)
diff --git a/source/VisionX/components/pointcloud_provider/AzureKinectPointCloudProvider/AzureKinectPointCloudProvider.cpp b/source/VisionX/components/pointcloud_provider/AzureKinectPointCloudProvider/AzureKinectPointCloudProvider.cpp
index 4477a9a44..ca62a5e8c 100644
--- a/source/VisionX/components/pointcloud_provider/AzureKinectPointCloudProvider/AzureKinectPointCloudProvider.cpp
+++ b/source/VisionX/components/pointcloud_provider/AzureKinectPointCloudProvider/AzureKinectPointCloudProvider.cpp
@@ -23,6 +23,7 @@
#include "AzureKinectPointCloudProvider.h"
+#include "ArmarXCore/core/exceptions/LocalException.h"
#include "ArmarXCore/core/logging/Logging.h"
@@ -653,7 +654,17 @@ namespace visionx
while(true)
{
- k4abt::frame body_frame = bodyTracker.pop_result();
+ // body frames might just not be available.
+ const k4abt::frame body_frame = [&]() -> k4abt::frame{
+ try {
+ auto result = bodyTracker.pop_result();
+ return result;
+ } catch (...) {
+ ARMARX_VERBOSE << deactivateSpam(1) << "Exception in body tracking publishing: " << armarx::GetHandledExceptionString();
+ return {};
+ }
+ }();
+
if (body_frame != nullptr)
{
armarx::core::time::ScopedStopWatch sw{createSwCallback("publish body tracking result")};
--
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