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Fix double free #1

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Merged
merged 2 commits into from
Sep 12, 2025
Merged

Fix double free #1

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193a500
fix-double-free
ralwing Sep 1, 2025
c2eda07
extra space removed
ralwing Sep 4, 2025
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9 changes: 4 additions & 5 deletions ouster_client/include/ouster/types.h
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Original file line number Diff line number Diff line change
Expand Up @@ -49,15 +49,14 @@ namespace sensor {
constexpr double range_unit = 0.001;

/** Design values for altitude and azimuth offset angles for gen1 sensors. */
extern const std::vector<double> gen1_altitude_angles;
const std::vector<double>& get_gen1_altitude_angles();
/** Design values for altitude and azimuth offset angles for gen1 sensors. */
extern const std::vector<double> gen1_azimuth_angles;
const std::vector<double>& get_gen1_azimuth_angles();

/** Design values for imu and lidar to sensor-frame transforms. */
extern const mat4d default_imu_to_sensor_transform;

const mat4d& get_default_imu_to_sensor_transform();
/** Design values for imu and lidar to sensor-frame transforms. */
extern const mat4d default_lidar_to_sensor_transform;
const mat4d& get_default_lidar_to_sensor_transform();

/**
* Constants used for configuration. Refer to the sensor documentation for the
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29 changes: 21 additions & 8 deletions ouster_client/src/sensor_info.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -99,14 +99,14 @@ sensor_info default_sensor_info(lidar_mode mode) {
info.prod_line = "OS-1-64";

info.format = default_data_format(mode);
info.beam_azimuth_angles = gen1_azimuth_angles;
info.beam_altitude_angles = gen1_altitude_angles;
info.beam_azimuth_angles = get_gen1_azimuth_angles();
info.beam_altitude_angles = get_gen1_altitude_angles();
info.lidar_origin_to_beam_origin_mm =
default_lidar_origin_to_beam_origin(info.prod_line);
info.beam_to_lidar_transform =
default_beam_to_lidar_transform(info.prod_line);
info.imu_to_sensor_transform = default_imu_to_sensor_transform;
info.lidar_to_sensor_transform = default_lidar_to_sensor_transform;
info.imu_to_sensor_transform = get_default_imu_to_sensor_transform();
info.lidar_to_sensor_transform = get_default_lidar_to_sensor_transform();
info.extrinsic = mat4d::Identity();
info.init_id = 0;
info.build_date = "";
Expand All @@ -124,7 +124,7 @@ sensor_info default_sensor_info(lidar_mode mode) {
}

// clang-format off
extern const std::vector<double> gen1_altitude_angles = {
static const std::vector<double> gen1_altitude_angles = {
16.611, 16.084, 15.557, 15.029, 14.502, 13.975, 13.447, 12.920,
12.393, 11.865, 11.338, 10.811, 10.283, 9.756, 9.229, 8.701,
8.174, 7.646, 7.119, 6.592, 6.064, 5.537, 5.010, 4.482,
Expand All @@ -134,8 +134,11 @@ extern const std::vector<double> gen1_altitude_angles = {
-8.701, -9.229, -9.756, -10.283, -10.811, -11.338, -11.865, -12.393,
-12.920, -13.447, -13.975, -14.502, -15.029, -15.557, -16.084, -16.611,
};
const std::vector<double>& get_gen1_altitude_angles() {
return gen1_altitude_angles;
}

extern const std::vector<double> gen1_azimuth_angles = {
static const std::vector<double> gen1_azimuth_angles = {
3.164, 1.055, -1.055, -3.164, 3.164, 1.055, -1.055, -3.164,
3.164, 1.055, -1.055, -3.164, 3.164, 1.055, -1.055, -3.164,
3.164, 1.055, -1.055, -3.164, 3.164, 1.055, -1.055, -3.164,
Expand All @@ -146,16 +149,26 @@ extern const std::vector<double> gen1_azimuth_angles = {
3.164, 1.055, -1.055, -3.164, 3.164, 1.055, -1.055,
-3.164,
};
const std::vector<double>& get_gen1_azimuth_angles() {
return gen1_azimuth_angles;
}
// clang-format on

extern const mat4d default_imu_to_sensor_transform =
static const mat4d default_imu_to_sensor_transform =
(mat4d() << 1, 0, 0, 6.253, 0, 1, 0, -11.775, 0, 0, 1, 7.645, 0, 0, 0, 1)
.finished();
const mat4d& get_default_imu_to_sensor_transform() {
return default_imu_to_sensor_transform;
}

extern const mat4d default_lidar_to_sensor_transform =
static const mat4d default_lidar_to_sensor_transform =
(mat4d() << -1, 0, 0, 0, 0, -1, 0, 0, 0, 0, 1, 36.18, 0, 0, 0, 1)
.finished();

const mat4d& get_default_lidar_to_sensor_transform() {
return default_lidar_to_sensor_transform;
}

/* String conversion */

// bool represents whether it is an object (true) or just a member (false)
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