Merge pull request #697 from dorodnic/fixes

Fixing crashes in the viewer when switching between cameras

Author: dorodnic

src/ds5/ds5-color.cpp

@@ -145,9 +145,16 @@ namespace librealsense
 
             auto video = dynamic_cast<video_stream_profile_interface*>(p.get());
             auto profile = to_profile(p.get());
-            video->set_intrinsics([profile, this]()
+
+            std::weak_ptr<ds5_color_sensor> wp =
+                std::dynamic_pointer_cast<ds5_color_sensor>(this->shared_from_this());
+            video->set_intrinsics([profile, wp]()
             {
-                return get_intrinsics(profile);
+                auto sp = wp.lock();
+                if (sp)
+                    return sp->get_intrinsics(profile);
+                else
+                    return rs2_intrinsics{};
             });
 
             if (video->get_width() == 640 && video->get_height() == 480 && video->get_format() == RS2_FORMAT_RGB8 && video->get_framerate() == 30)

src/ds5/ds5-device.cpp

@@ -129,9 +129,15 @@ namespace librealsense
                 if (p->get_format() != RS2_FORMAT_Y16) // Y16 format indicate unrectified images, no intrinsics are available for these
                 {
                     auto profile = to_profile(p.get());
-                    video->set_intrinsics([profile, this]()
+                    std::weak_ptr<ds5_depth_sensor> wp =
+                        std::dynamic_pointer_cast<ds5_depth_sensor>(this->shared_from_this());
+                    video->set_intrinsics([profile, wp]()
                     {
-                        return get_intrinsics(profile);
+                        auto sp = wp.lock();
+                        if (sp)
+                            return sp->get_intrinsics(profile);
+                        else
+                            return rs2_intrinsics{};
                     });
                 }
             }

src/ds5/ds5-motion.cpp

@@ -120,11 +120,16 @@ namespace librealsense
                 if (video->get_width() == 640 && video->get_height() == 480 && video->get_format() == RS2_FORMAT_RAW8 && video->get_framerate() == 30)
                     video->make_default();
 
-                // Register intrinsics
                 auto profile = to_profile(p.get());
-                video->set_intrinsics([profile, this]()
+                std::weak_ptr<ds5_fisheye_sensor> wp =
+                    std::dynamic_pointer_cast<ds5_fisheye_sensor>(this->shared_from_this());
+                video->set_intrinsics([profile, wp]()
                 {
-                    return get_intrinsics(profile);
+                    auto sp = wp.lock();
+                    if (sp)
+                        return sp->get_intrinsics(profile);
+                    else
+                        return rs2_intrinsics{};
                 });
             }
 

src/ivcam/sr300.h

@@ -233,9 +233,15 @@ namespace librealsense
                         video->make_default();
 
                     auto profile = to_profile(p.get());
-                    video->set_intrinsics([profile, this]()
+                    std::weak_ptr<sr300_color_sensor> wp =
+                        std::dynamic_pointer_cast<sr300_color_sensor>(this->shared_from_this());
+                    video->set_intrinsics([profile, wp]()
                     {
-                        return get_intrinsics(profile);
+                        auto sp = wp.lock();
+                        if (sp)
+                            return sp->get_intrinsics(profile);
+                        else
+                            return rs2_intrinsics{};
                     });
                 }
 
@@ -285,9 +291,16 @@ namespace librealsense
                         video->make_default();
 
                     auto profile = to_profile(p.get());
-                    video->set_intrinsics([profile, this]()
+                    std::weak_ptr<sr300_depth_sensor> wp =
+                        std::dynamic_pointer_cast<sr300_depth_sensor>(this->shared_from_this());
+
+                    video->set_intrinsics([profile, wp]()
                     {
-                        return get_intrinsics(profile);
+                        auto sp = wp.lock();
+                        if (sp)
+                            return sp->get_intrinsics(profile);
+                        else
+                            return rs2_intrinsics{};
                     });
                 }