fix: segmentation fault when set color setting

ichiro-its · Jun 6, 2024 · 2c81127 · 2c81127
1 parent f30aec8
commit 2c81127
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Showing 4 changed files with 13 additions and 19 deletions.
diff --git a/include/ninshiki_cpp/node/ninshiki_cpp_node.hpp b/include/ninshiki_cpp/node/ninshiki_cpp_node.hpp
@@ -50,7 +50,10 @@ class NinshikiCppNode
 
   NinshikiCppNode(
     rclcpp::Node::SharedPtr node, const std::string & path,
-    int frequency, shisen_cpp::Options options);
+    int frequency, shisen_cpp::Options options,
+    std::shared_ptr<DnnDetector> dnn_detection,
+    std::shared_ptr<ColorDetector> color_detection,
+    std::shared_ptr<LBPDetector> lbp_detection);
   void publish();
   void set_detection(
     std::shared_ptr<DnnDetector> dnn_detection,

diff --git a/src/ninshiki_cpp/config/utils/config.cpp b/src/ninshiki_cpp/config/utils/config.cpp
@@ -25,7 +25,6 @@
 #include <iomanip>
 #include <string>
 
-
 namespace ninshiki_cpp
 {
 Config::Config(const std::string & path) : path(path) {}

diff --git a/src/ninshiki_cpp/node/ninshiki_cpp_node.cpp b/src/ninshiki_cpp/node/ninshiki_cpp_node.cpp
@@ -31,8 +31,12 @@ namespace ninshiki_cpp::node
 
 NinshikiCppNode::NinshikiCppNode(
   rclcpp::Node::SharedPtr node, const std::string & path,
-  int frequency, shisen_cpp::Options options)
-: node(node), path(path), dnn_detection(nullptr), color_detection(nullptr), lbp_detection(nullptr)
+  int frequency, shisen_cpp::Options options,
+  std::shared_ptr<DnnDetector> dnn_detection,
+  std::shared_ptr<ColorDetector> color_detection,
+  std::shared_ptr<LBPDetector> lbp_detection)
+: node(node), path(path), dnn_detection(dnn_detection),
+  color_detection(color_detection), lbp_detection(lbp_detection)
 {
   detected_object_publisher = node->create_publisher<DetectedObjects>(
     get_node_prefix() + "/dnn_detection", 10);
@@ -78,16 +82,6 @@ void NinshikiCppNode::publish()
   lbp_detection->detection_result.detected_objects.clear();
 }
 
-void NinshikiCppNode::set_detection(
-  std::shared_ptr<DnnDetector> dnn_detection,
-  std::shared_ptr<ColorDetector> color_detection,
-  std::shared_ptr<LBPDetector> lbp_detection)
-{
-  this->dnn_detection = dnn_detection;
-  this->color_detection = color_detection;
-  this->lbp_detection = lbp_detection;
-}
-
 std::string NinshikiCppNode::get_node_prefix()
 {
   return "ninshiki_cpp";

diff --git a/src/ninshiki_cpp_detector.cpp b/src/ninshiki_cpp_detector.cpp
@@ -107,17 +107,15 @@ int main(int argc, char ** argv)
     return 1;
   }
 
-  auto node = std::make_shared<rclcpp::Node>("ninshiki_cpp");
-  auto ninshiki_cpp_node = std::make_shared<ninshiki_cpp::node::NinshikiCppNode>(
-    node, path, frequency, options);
-
   auto dnn_detection = std::make_shared<ninshiki_cpp::detector::DnnDetector>(gpu, myriad);
   auto color_detection = std::make_shared<ninshiki_cpp::detector::ColorDetector>();
   auto lbp_detection = std::make_shared<ninshiki_cpp::detector::LBPDetector>();
 
   color_detection->load_configuration(path);
 
-  ninshiki_cpp_node->set_detection(dnn_detection, color_detection, lbp_detection);
+  auto node = std::make_shared<rclcpp::Node>("ninshiki_cpp");
+  auto ninshiki_cpp_node = std::make_shared<ninshiki_cpp::node::NinshikiCppNode>(
+    node, path, frequency, options, dnn_detection, color_detection, lbp_detection);
 
   rclcpp::spin(node);
   rclcpp::shutdown();