From 6a754148d8bdfe6eb4fe50a96dbb49817ea9bff9 Mon Sep 17 00:00:00 2001
From: Ian Chen <ichen@openrobotics.org>
Date: Mon, 11 Nov 2024 01:09:21 -0800
Subject: [PATCH] Check camera resolution (#480)

Signed-off-by: Ian Chen <ichen@openrobotics.org>
(cherry picked from commit aaef365e6c51dcf98334e9f7a70e5fc4e3281f91)
---
 src/BoundingBoxCameraSensor.cc  |  7 +++++++
 src/CameraSensor.cc             |  7 +++++++
 src/DepthCameraSensor.cc        | 11 +++++++++--
 src/RgbdCameraSensor.cc         | 11 +++++++++--
 src/SegmentationCameraSensor.cc |  7 +++++++
 src/ThermalCameraSensor.cc      | 11 +++++++++--
 src/WideAngleCameraSensor.cc    |  7 +++++++
 7 files changed, 55 insertions(+), 6 deletions(-)

diff --git a/src/BoundingBoxCameraSensor.cc b/src/BoundingBoxCameraSensor.cc
index 7729945b..b66209d7 100644
--- a/src/BoundingBoxCameraSensor.cc
+++ b/src/BoundingBoxCameraSensor.cc
@@ -293,6 +293,13 @@ bool BoundingBoxCameraSensor::CreateCamera()
   auto width = sdfCamera->ImageWidth();
   auto height = sdfCamera->ImageHeight();
 
+  if (width == 0u || height == 0u)
+  {
+    gzerr << "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
index 92a357a9..0451296b 100644
--- a/src/CameraSensor.cc
+++ b/src/CameraSensor.cc
@@ -206,6 +206,13 @@ bool CameraSensor::CreateCamera()
   unsigned int width = cameraSdf->ImageWidth();
   unsigned int height = cameraSdf->ImageHeight();
 
+  if (width == 0u || height == 0u)
+  {
+    gzerr << "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
index d5e9cec8..46c69f49 100644
--- a/src/DepthCameraSensor.cc
+++ b/src/DepthCameraSensor.cc
@@ -336,8 +336,15 @@ 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)
+  {
+    gzerr << "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
index 8ca65409..ba66eb85 100644
--- a/src/RgbdCameraSensor.cc
+++ b/src/RgbdCameraSensor.cc
@@ -277,8 +277,15 @@ bool RgbdCameraSensor::CreateCameras()
     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)
+  {
+    gzerr << "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
index 92b5a983..b11af526 100644
--- a/src/SegmentationCameraSensor.cc
+++ b/src/SegmentationCameraSensor.cc
@@ -353,6 +353,13 @@ bool SegmentationCameraSensor::CreateCamera()
   auto width = sdfCamera->ImageWidth();
   auto height = sdfCamera->ImageHeight();
 
+  if (width == 0u || height == 0u)
+  {
+    gzerr << "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 > GZ_PI*2)
   {
diff --git a/src/ThermalCameraSensor.cc b/src/ThermalCameraSensor.cc
index d0aec077..1ab20d5f 100644
--- a/src/ThermalCameraSensor.cc
+++ b/src/ThermalCameraSensor.cc
@@ -255,8 +255,15 @@ 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)
+  {
+    gzerr << "Unable to create a thermal camera sensor with 0 width or height."
+          << std::endl;
+    return false;
+  }
 
   sdf::PixelFormatType pixelFormat = cameraSdf->PixelFormat();
 
diff --git a/src/WideAngleCameraSensor.cc b/src/WideAngleCameraSensor.cc
index 94b935d6..a851287d 100644
--- a/src/WideAngleCameraSensor.cc
+++ b/src/WideAngleCameraSensor.cc
@@ -228,6 +228,13 @@ bool WideAngleCameraSensor::CreateCamera()
   unsigned int width = cameraSdf->ImageWidth();
   unsigned int height = cameraSdf->ImageHeight();
 
+  if (width == 0u || height == 0u)
+  {
+    gzerr << "Unable to create a wide angle camera sensor with 0 width or "
+          << "height." << std::endl;
+    return false;
+  }
+
   this->dataPtr->camera = this->Scene()->CreateWideAngleCamera(this->Name());
 
   if (!this->dataPtr->camera)