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Handle DDS in/extrinsics data errors better #13999

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merged 1 commit into from
May 12, 2025
Merged

Handle DDS in/extrinsics data errors better #13999

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38 changes: 27 additions & 11 deletions third-party/realdds/src/dds-device-impl.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -594,8 +594,16 @@ void dds_device::impl::on_device_header( json const & j, dds_sample const & samp
std::string const & from_name = ex[0].string_ref();
std::string const & to_name = ex[1].string_ref();
//LOG_DEBUG( "[" << debug_name() << "] ... got extrinsics from " << from_name << " to " << to_name );
extrinsics extr = extrinsics::from_json( ex[2] );
_extrinsics_map[std::make_pair( from_name, to_name )] = std::make_shared< extrinsics >( extr );
try
{
extrinsics extr = extrinsics::from_json( ex[2] );
_extrinsics_map[std::make_pair( from_name, to_name )] = std::make_shared< extrinsics >( extr );
}
catch( std::exception const & e )
{
LOG_ERROR( "[" << debug_name() << "] Invalid extrinsics data from " << from_name << " to " << to_name
<< ". Error: " << e.what() << ", reading" << ex );
}
}
}

Expand Down Expand Up @@ -715,19 +723,27 @@ void dds_device::impl::on_stream_options( json const & j, dds_sample const & sam
{
if( auto video_stream = std::dynamic_pointer_cast< dds_video_stream >( stream ) )
{
std::set< video_intrinsics > intrinsics;
if( j_int.is_array() )
try
{
// Multiple resolutions are provided, likely from legacy devices from the adapter
for( auto & intr : j_int )
intrinsics.insert( video_intrinsics::from_json( intr ) );
std::set< video_intrinsics > intrinsics;
if( j_int.is_array() )
{
// Multiple resolutions are provided, likely from legacy devices from the adapter
for( auto & intr : j_int )
intrinsics.insert( video_intrinsics::from_json( intr ) );
}
else
{
// Single intrinsics that will get scaled
intrinsics.insert( video_intrinsics::from_json( j_int ) );
}
video_stream->set_intrinsics( intrinsics );
}
else
catch( std::exception const & e )
{
// Single intrinsics that will get scaled
intrinsics.insert( video_intrinsics::from_json( j_int ) );
LOG_ERROR( "[" << debug_name() << "] Invalid intrinsics for stream " << stream->name()
<< ". Error: " << e.what() << ", reading" << j_int );
}
video_stream->set_intrinsics( intrinsics );
}
else if( auto motion_stream = std::dynamic_pointer_cast< dds_motion_stream >( stream ) )
{
Expand Down
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