Merge branch 'gz-sensors9' into merge_9_main_20250114

Author: iche033

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);

src/CameraSensor.cc

@@ -144,6 +144,13 @@ 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);

src/DepthCameraSensor.cc

@@ -337,8 +337,15 @@ 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();

src/RgbdCameraSensor.cc

@@ -278,8 +278,15 @@ 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());

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)
   {

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();
 

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)
@@ -326,6 +333,12 @@ bool WideAngleCameraSensor::CreateCamera()
     case sdf::PixelFormatType::RGB_INT8:
       this->dataPtr->camera->SetImageFormat(gz::rendering::PF_R8G8B8);
       break;
+    case sdf::PixelFormatType::L_INT8:
+      this->dataPtr->camera->SetImageFormat(gz::rendering::PF_L8);
+      break;
+    case sdf::PixelFormatType::L_INT16:
+      this->dataPtr->camera->SetImageFormat(gz::rendering::PF_L16);
+      break;
     default:
       gzerr << "Unsupported pixel format ["
         << static_cast<int>(pixelFormat) << "]\n";
@@ -360,7 +373,9 @@ void WideAngleCameraSensor::OnNewWideAngleFrame(
 {
   std::lock_guard<std::mutex> lock(this->dataPtr->mutex);
 
-  unsigned int len = _width * _height * _channels;
+  unsigned int bytesPerChannel = rendering::PixelUtil::BytesPerChannel(
+      this->dataPtr->camera->ImageFormat());
+  unsigned int len = _width * _height * _channels * bytesPerChannel;
   unsigned int bufferSize = len * sizeof(unsigned char);
 
   if (!this->dataPtr->imageBuffer)
@@ -460,6 +475,12 @@ bool WideAngleCameraSensor::Update(
       format = gz::common::Image::RGB_INT8;
       msgsPixelFormat = msgs::PixelFormatType::RGB_INT8;
       break;
+    case gz::rendering::PF_L8:
+      msgsPixelFormat = msgs::PixelFormatType::L_INT8;
+      break;
+    case gz::rendering::PF_L16:
+      msgsPixelFormat = msgs::PixelFormatType::L_INT16;
+      break;
     default:
       gzerr << "Unsupported pixel format ["
         << this->dataPtr->camera->ImageFormat() << "]\n";