Merge pull request #423 from lucasw/crop_decimate_resolution_change

Avoid crashing when the x or y offset is too large
ros-perception · Jul 19, 2019 · bf90bd4 · bf90bd4
2 parents 762e34b + 133c8d4
commit bf90bd4
Showing 1 changed file with 12 additions and 0 deletions.
diff --git a/image_proc/src/nodelets/crop_decimate.cpp b/image_proc/src/nodelets/crop_decimate.cpp
@@ -196,7 +196,19 @@ void CropDecimateNodelet::imageCb(const sensor_msgs::ImageConstPtr& image_msg,
   }
 
   int max_width = image_msg->width - config.x_offset;
+  if (max_width <= 0)
+  {
+    ROS_WARN_STREAM("x offset is outside the input image width: "
+        << image_msg->width << ", x offset: " << config.x_offset);
+    return;
+  }
   int max_height = image_msg->height - config.y_offset;
+  if (max_height <= 0)
+  {
+    ROS_WARN_STREAM("y offset is outside the input image height: "
+        << image_msg->height << ", y offset: " << config.y_offset);
+    return;
+  }
   int width = config.width;
   int height = config.height;
   if (width == 0 || width > max_width)