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[fix] validate RGBDSettings::depth_camera_id against the rig #154

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[fix] validate RGBDSettings::depth_camera_id against the rig #154

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6 changes: 5 additions & 1 deletion libs/cuvslam/cuvslam2.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -527,7 +527,11 @@ Odometry::Odometry(const Rig& rig, const Config& cfg) {
std::vector<CameraId> depth_ids;
bool enable_depth_stereo_tracking_fig = false;
if (cfg.odometry_mode == OdometryMode::RGBD) {
depth_ids.push_back(static_cast<CameraId>(cfg.rgbd_settings.depth_camera_id));
const int32_t depth_camera_id = cfg.rgbd_settings.depth_camera_id;
THROW_INVALID_ARG_IF(
depth_camera_id < 0 || static_cast<size_t>(depth_camera_id) >= rig.cameras.size(),
"RGBDSettings::depth_camera_id (" + std::to_string(depth_camera_id) + ") is not a camera id of the rig");
depth_ids.push_back(static_cast<CameraId>(depth_camera_id));
enable_depth_stereo_tracking_fig = cfg.rgbd_settings.enable_depth_stereo_tracking;
} else if (cfg.odometry_mode == OdometryMode::Multisensor) {
depth_ids.reserve(cfg.multisensor_settings.depth_camera_ids.size());
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12 changes: 12 additions & 0 deletions libs/cuvslam/test/tracker_test.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -171,6 +171,17 @@ TEST_F(TrackerTest, RejectsSlamConfigInOdometryOnlyMode) {
EXPECT_THROW(Tracker(rig, Mode::OdometryOnlyRealtime, realtime, &slam), std::invalid_argument);
}

TEST_F(TrackerTest, RgbdModeChecksDepthCameraId) {
// The depth camera id has to name a camera of the rig: the default -1 means "not set", and an id
// past the end of the rig would reach the frustum graph as a camera that does not exist.
Odometry::Config cfg;
cfg.odometry_mode = Odometry::OdometryMode::RGBD;
EXPECT_THROW(Tracker(rig, Mode::OdometryOnlyRealtime, cfg), std::invalid_argument);

cfg.rgbd_settings.depth_camera_id = static_cast<int32_t>(rig.cameras.size());
EXPECT_THROW(Tracker(rig, Mode::OdometryOnlyRealtime, cfg), std::invalid_argument);
}

TEST_F(TrackerTest, RejectsNonFiniteCalibration) {
constexpr float kNan = std::numeric_limits<float>::quiet_NaN();

Expand Down Expand Up @@ -292,6 +303,7 @@ TEST_F(TrackerTest, RgbdModeRequiresCudaBuild) {
// rather than silently constructing a tracker that cannot run it.
Odometry::Config cfg;
cfg.odometry_mode = Odometry::OdometryMode::RGBD;
cfg.rgbd_settings.depth_camera_id = 0;
try {
Tracker{rig, Mode::OdometryOnlyRealtime, cfg};
FAIL() << "RGBD mode was accepted by a build without CUDA";
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