add input image correctness checks

valgur · Mar 21, 2020 · dd546b4 · dd546b4
1 parent 7c3d94c
commit dd546b4
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Showing 3 changed files with 13 additions and 6 deletions.
diff --git a/include/surface_normal.h b/include/surface_normal.h
@@ -12,12 +12,12 @@ struct CameraIntrinsics {
   float cy;
 };
 
-cv::Mat3f normals_from_depth(const cv::Mat &depth, CameraIntrinsics intrinsics, int window_size,
-                             float max_rel_depth_diff);
+cv::Mat3f normals_from_depth(const cv::Mat1f &depth, CameraIntrinsics intrinsics,
+                             int window_size = 15, float max_rel_depth_diff = 0.1);
 
 cv::Mat3b normals_to_rgb(const cv::Mat3f &normals);
 
-cv::Mat1f get_surrounding_points(const cv::Mat &depth, int i, int j, CameraIntrinsics intrinsics,
+cv::Mat1f get_surrounding_points(const cv::Mat1f &depth, int i, int j, CameraIntrinsics intrinsics,
                                  size_t window_size, float max_rel_depth_diff);
 
 cv::Vec3f fit_plane(const cv::Mat &points);
diff --git a/src/python.cpp b/src/python.cpp
@@ -20,7 +20,14 @@ void normals_from_depth_wrapper(const std::string &depth_in_path, const std::str
   intrinsics.f  = std::get<0>(intrinsics_tuple);
   intrinsics.cx = std::get<1>(intrinsics_tuple);
   intrinsics.cy = std::get<2>(intrinsics_tuple);
-  cv::Mat depth = cv::imread(depth_in_path, cv::IMREAD_ANYDEPTH | cv::IMREAD_GRAYSCALE);
+  cv::Mat depth = cv::imread(depth_in_path, cv::IMREAD_UNCHANGED);
+  if (depth.size().area() == 0) {
+    throw std::runtime_error("Empty image");
+  }
+  if (depth.channels() != 1) {
+    throw std::runtime_error("Not a single-channel depth image. Image has " +
+                             std::to_string(depth.channels()) + " channels.");
+  }
   depth.convertTo(depth, CV_32F);
   cv::Mat3f normals     = normals_from_depth(depth, intrinsics, window_size, max_rel_depth_diff);
   cv::Mat3b normals_rgb = normals_to_rgb(normals);

diff --git a/src/surface_normal.cpp b/src/surface_normal.cpp
@@ -7,7 +7,7 @@
 using namespace cv;
 
 // Returns a Nx3 matrix of 3D points surrounding the i,j pixel within the window_size window.
-Mat1f get_surrounding_points(const Mat &depth, int i, int j, CameraIntrinsics intrinsics,
+Mat1f get_surrounding_points(const Mat1f &depth, int i, int j, CameraIntrinsics intrinsics,
                              size_t window_size, float max_rel_depth_diff) {
   float f_inv        = 1.f / intrinsics.f;
   float cx           = intrinsics.cx;
@@ -58,7 +58,7 @@ Vec3f fit_plane(const Mat &points) {
   return normal;
 }
 
-Mat3f normals_from_depth(const Mat &depth, CameraIntrinsics intrinsics, int window_size,
+Mat3f normals_from_depth(const Mat1f &depth, CameraIntrinsics intrinsics, int window_size,
                          float max_rel_depth_diff) {
   Mat3f normals = Mat::zeros(depth.size(), CV_32FC3);
   for (int i = 0; i < depth.rows; i++) {