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Avoid crashing when the x or y offset is too large #423

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merged 3 commits into from Jul 19, 2019
Merged

Avoid crashing when the x or y offset is too large #423

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Avoid crashing when the x or y offset is too large, later should make…
lucasw Jun 25, 2019
b03c5ab
Need to look at x and y offset
lucasw Jun 25, 2019
133c8d4
Requested changes
lucasw Jul 11, 2019
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16 changes: 16 additions & 0 deletions image_proc/src/nodelets/crop_decimate.cpp
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Expand Up @@ -195,8 +195,24 @@ void CropDecimateNodelet::imageCb(const sensor_msgs::ImageConstPtr& image_msg,
config.height &= ~0x1;
}

// TODO(lucasw) need to incorporate the x_offset and y_offset within info_msg

// TODO(lucasw) should generate a black image where there isn't any source image,
// could be a dynamic reconfigure option
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int max_width = image_msg->width - config.x_offset;
if (max_width <= 0)
{
ROS_DEBUG_STREAM("x offset is outside the input image width: "
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<< image_msg->width << ", x offset: " << config.x_offset);
return;
}
int max_height = image_msg->height - config.y_offset;
if (max_height <= 0)
{
ROS_DEBUG_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)
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