Check camera sensors have non-zero width or height (backport #480) (#481

) * Check camera resolution (#480) Signed-off-by: Ian Chen <[email protected]> (cherry picked from commit aaef365) Signed-off-by: Alejandro Hernández Cordero <[email protected]> Co-authored-by: Ian Chen <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]>
gazebosim · Nov 11, 2024 · b15ba73 · b15ba73
1 parent 9b40869
commit b15ba73
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Showing 6 changed files with 48 additions and 6 deletions.
diff --git a/src/BoundingBoxCameraSensor.cc b/src/BoundingBoxCameraSensor.cc
@@ -278,6 +278,13 @@ bool BoundingBoxCameraSensor::CreateCamera()
   auto width = sdfCamera->ImageWidth();
   auto height = sdfCamera->ImageHeight();
 
+  if (width == 0u || height == 0u)
+  {
+    ignerr << "Unable to create a bounding box camera sensor with 0 width or "
+          << "height. " << std::endl;
+    return false;
+  }
+
   // Set Camera Properties
   this->dataPtr->rgbCamera->SetImageFormat(rendering::PF_R8G8B8);
   this->dataPtr->rgbCamera->SetImageWidth(width);

diff --git a/src/CameraSensor.cc b/src/CameraSensor.cc
@@ -220,6 +220,13 @@ bool CameraSensor::CreateCamera()
   unsigned int width = cameraSdf->ImageWidth();
   unsigned int height = cameraSdf->ImageHeight();
 
+  if (width == 0u || height == 0u)
+  {
+    ignerr << "Unable to create a camera sensor with 0 width or height."
+          << std::endl;
+    return false;
+  }
+
   this->dataPtr->camera = this->Scene()->CreateCamera(this->Name());
   this->dataPtr->camera->SetImageWidth(width);
   this->dataPtr->camera->SetImageHeight(height);

diff --git a/src/DepthCameraSensor.cc b/src/DepthCameraSensor.cc
@@ -329,8 +329,15 @@ bool DepthCameraSensor::CreateCamera()
     return false;
   }
 
-  int width = cameraSdf->ImageWidth();
-  int height = cameraSdf->ImageHeight();
+  unsigned int width = cameraSdf->ImageWidth();
+  unsigned int height = cameraSdf->ImageHeight();
+
+  if (width == 0u || height == 0u)
+  {
+    ignerr << "Unable to create a depth camera sensor with 0 width or height."
+          << std::endl;
+    return false;
+  }
 
   double far = cameraSdf->FarClip();
   double near = cameraSdf->NearClip();

diff --git a/src/RgbdCameraSensor.cc b/src/RgbdCameraSensor.cc
@@ -274,8 +274,15 @@ bool RgbdCameraSensor::CreateCameras()
 
   this->PopulateInfo(cameraSdf);
 
-  int width = cameraSdf->ImageWidth();
-  int height = cameraSdf->ImageHeight();
+  unsigned int width = cameraSdf->ImageWidth();
+  unsigned int height = cameraSdf->ImageHeight();
+
+  if (width == 0u || height == 0u)
+  {
+    ignerr << "Unable to create an RGBD camera sensor with 0 width or height."
+          << std::endl;
+    return false;
+  }
 
   this->dataPtr->depthCamera =
       this->Scene()->CreateDepthCamera(this->Name());

diff --git a/src/SegmentationCameraSensor.cc b/src/SegmentationCameraSensor.cc
@@ -343,6 +343,13 @@ bool SegmentationCameraSensor::CreateCamera()
   auto width = sdfCamera->ImageWidth();
   auto height = sdfCamera->ImageHeight();
 
+  if (width == 0u || height == 0u)
+  {
+    ignerr << "Unable to create a segmentation camera sensor with 0 width or "
+          << "height." << std::endl;
+    return false;
+  }
+
   math::Angle angle = sdfCamera->HorizontalFov();
   if (angle < 0.01 || angle > IGN_PI*2)
   {

diff --git a/src/ThermalCameraSensor.cc b/src/ThermalCameraSensor.cc
@@ -251,8 +251,15 @@ bool ThermalCameraSensor::CreateCamera()
     return false;
   }
 
-  int width = cameraSdf->ImageWidth();
-  int height = cameraSdf->ImageHeight();
+  unsigned int width = cameraSdf->ImageWidth();
+  unsigned int height = cameraSdf->ImageHeight();
+
+  if (width == 0u || height == 0u)
+  {
+    ignerr << "Unable to create a thermal camera sensor with 0 width or height."
+          << std::endl;
+    return false;
+  }
 
   sdf::PixelFormatType pixelFormat = cameraSdf->PixelFormat();