PR #13512 from Nir-Az: Table read error fallback

IntelRealSense · Nov 14, 2024 · 2fea862 · 2fea862
2 parents 31f3252 + c25e183
commit 2fea862
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Showing 2 changed files with 28 additions and 4 deletions.
diff --git a/src/ds/d500/d500-device.cpp b/src/ds/d500/d500-device.cpp
@@ -286,8 +286,18 @@ namespace librealsense
     float d500_device::get_stereo_baseline_mm() const // to be d500 adapted
     {
         using namespace ds;
-        auto table = check_calib<d500_coefficients_table>(*_coefficients_table_raw);
-        return fabs(table->baseline);
+        float baseline = 100.0f; // so we will have a non zero value if cannot read from table
+        try
+        {
+            auto table = check_calib<d500_coefficients_table>(*_coefficients_table_raw);
+            baseline = fabs(table->baseline);
+        }
+        catch( const std::exception &e )
+        {
+            LOG_ERROR("Failed reading stereo baseline, using default value --> " << e.what() );
+        }
+
+        return baseline;
     }
 
     std::vector<uint8_t> d500_device::get_d500_raw_calibration_table(ds::d500_calibration_table_id table_id) const // to be d500 adapted

diff --git a/src/ds/d500/d500-private.cpp b/src/ds/d500/d500-private.cpp
@@ -47,15 +47,29 @@ namespace librealsense
             {
             case d500_calibration_table_id::depth_calibration_id:
             {
-                return get_d500_depth_intrinsic_by_resolution(raw_data, width, height, is_symmetrization_enabled);
+                if ( !raw_data.empty() )
+                    return get_d500_depth_intrinsic_by_resolution(raw_data, width, height, is_symmetrization_enabled);
+                else
+                    LOG_ERROR("Cannot read depth table intrinsic values, using default values");
             }
             case d500_calibration_table_id::rgb_calibration_id:
             {
-                return get_d500_color_intrinsic_by_resolution(raw_data, width, height);
+                if ( !raw_data.empty() )
+                    return get_d500_color_intrinsic_by_resolution(raw_data, width, height);
+                else
+                    LOG_ERROR("Cannot read color table intrinsic values, using default values");
             }
             default:
                 throw invalid_value_exception(rsutils::string::from() << "Parsing Calibration table type " << static_cast<int>(table_id) << " is not supported");
             }
+
+            // If we got here, the table is empty so continue with default values
+            rs2_intrinsics intrinsics = {0};
+            intrinsics.height = height;
+            intrinsics.width = width;
+            intrinsics.ppx = intrinsics.fx = width / 2.f;
+            intrinsics.ppy = intrinsics.fy = height / 2.f;
+            return intrinsics;
         }
 
         // Algorithm prepared by Oscar Pelc in matlab: