Validate camera intrinsics consistently - #1950
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📝 WalkthroughWalkthroughCalibration handling now applies centralized validation to intrinsic matrices and camera dimensions. Tests cover malformed, non-finite, singular, negative, structurally invalid, and valid skewed matrices across default and set operations. ChangesCalibration validation
Estimated code review effort: 3 (Moderate) | ~20 minutes Merge Risk: 🟡 Moderate · up to The public calibration setter can still convert invalid floating-point dimensions before validation, which may truncate inputs or trigger undefined behavior; the PR should not merge until validation occurs before conversion. Suggested reviewers: Poem
🚥 Pre-merge checks | ✅ 4 | ❌ 1❌ Failed checks (1 warning)
✅ Passed checks (4 passed)
✨ Finishing Touches 💡 1📝 Generate docstrings 💡
🧪 Generate unit tests (beta)
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Actionable comments posted: 1
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Inline comments:
In `@src/device/CalibrationHandler.cpp`:
- Around line 1055-1060: Update the Size2f calibration overload to validate
width and height as finite, integral, positive, and within uint16_t range before
converting them to int or storing the resolution; reject fractional,
NaN/infinite, zero/negative, and out-of-range values. Add regression tests
covering each invalid input category.
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src/device/CalibrationHandler.cpptests/src/onhost_tests/calibration_handler_test.cpp
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🔇 Additional comments (3)
src/device/CalibrationHandler.cpp (1)
9-9: LGTM!Also applies to: 35-48, 352-353
tests/src/onhost_tests/calibration_handler_test.cpp (2)
4-7: LGTM!Also applies to: 425-478
480-506: LGTM!
MaticTonin
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MaticTonin
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Overall looks fine, small comments
| if(!isValidIntrinsicsMatrix(intrinsics)) { | ||
| throw std::runtime_error("Invalid Intrinsic Matrix entered!!"); | ||
| } | ||
| if(width <= 0 || height <= 0 || width > std::numeric_limits<uint16_t>::max() || height > std::numeric_limits<uint16_t>::max()) { |
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I think adding upper limit is not required.
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I kept the check because CameraInfo stores width and height as uint16_t, so larger values could be silently truncated. Im not sure, please check it out @aljazkonec1
aljazkonec1
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aljazkonec1
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Thanks! one small comment + everything that @MaticTonin mentioned :)
3 participants
Summary
Expand camera intrinsics validation so health checks reject calibration data that Camera nodes and downstream consumers cannot safely use.
Validation now requires:
fxandfy1CameraInfoThe same validation is now applied when reading and setting intrinsics, preventing inconsistent calibration data from entering through the setter.
Principal points outside the image and an optional skew term remain supported to avoid rejecting unusual but valid calibrations.
Testing
calibration_handler_test: 68 test cases and 1,541 assertions passedcamera_info.jsonagainst the new rulesSummary by CodeRabbit