fix bad image check and improve it too

ros-perception · Oct 23, 2013 · ee10a9d · jensenb · Nov 22, 2013 · vrabaud
1 parent 6dbed62
commit ee10a9d
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Showing 2 changed files with 13 additions and 2 deletions.
diff --git a/cv_bridge/src/cv_bridge.cpp b/cv_bridge/src/cv_bridge.cpp
@@ -235,11 +235,14 @@ const std::vector<int> getConversionCode(std::string src_encoding, std::string d
 cv::Mat matFromImage(const sensor_msgs::Image& source)
 {
   int source_type = getCvType(source.encoding);
+  int byte_depth = enc::bitDepth(source.encoding) / 8;
+  int num_channels = enc::numChannels(source.encoding);
 
-  if (source.height > source.step)
+  if (source.step != source.width * byte_depth * num_channels)
   {
     std::stringstream ss;
-    ss << "Image is wrongly formed: height > step   or  " << source.height << " > " << source.step;
+    ss << "Image is wrongly formed: step != width * byte_depth * num_channels  or  " << source.step << " != " <<
+        source.width << " * " << byte_depth << " * " << num_channels;
     throw Exception(ss.str());
   }
 

diff --git a/cv_bridge/test/utest.cpp b/cv_bridge/test/utest.cpp
@@ -35,6 +35,14 @@ TEST(CvBridgeTest, initialization)
   } catch (cv_bridge::Exception& e) {
     EXPECT_EQ(1, 1);
   }
+
+  // Check some normal images with different ratios
+  for(int height = 100; height <= 300; ++height) {
+    image.encoding = sensor_msgs::image_encodings::RGB8;
+    image.step = image.width*3;
+    image.data.resize(image.height*image.step);
+    cv_ptr = cv_bridge::toCvCopy(image, "mono8");
+  }
 }
 
 int main(int argc, char** argv)