validating parameters for GPU code path

include/k4ainternal/transformation.h

@@ -85,6 +85,14 @@ k4a_transformation_t transformation_create(const k4a_calibration_t *calibration,
 
 void transformation_destroy(k4a_transformation_t transformation_handle);
 
+k4a_buffer_result_t transformation_depth_image_to_color_camera_validate_parameters(
+    const k4a_calibration_t *calibration,
+    const k4a_transformation_xy_tables_t *xy_tables_depth_camera,
+    const uint8_t *depth_image_data,
+    const k4a_transformation_image_descriptor_t *depth_image_descriptor,
+    uint8_t *transformed_depth_image_data,
+    k4a_transformation_image_descriptor_t *transformed_depth_image_descriptor);
+
 k4a_buffer_result_t transformation_depth_image_to_color_camera_internal(
     const k4a_calibration_t *calibration,
     const k4a_transformation_xy_tables_t *xy_tables_depth_camera,
@@ -100,6 +108,16 @@ transformation_depth_image_to_color_camera(k4a_transformation_t transformation_h
                                            uint8_t *transformed_depth_image_data,
                                            k4a_transformation_image_descriptor_t *transformed_depth_image_descriptor);
 
+k4a_buffer_result_t transformation_color_image_to_depth_camera_validate_parameters(
+    const k4a_calibration_t *calibration,
+    const k4a_transformation_xy_tables_t *xy_tables_depth_camera,
+    const uint8_t *depth_image_data,
+    const k4a_transformation_image_descriptor_t *depth_image_descriptor,
+    const uint8_t *color_image_data,
+    const k4a_transformation_image_descriptor_t *color_image_descriptor,
+    uint8_t *transformed_color_image_data,
+    k4a_transformation_image_descriptor_t *transformed_color_image_descriptor);
+
 k4a_buffer_result_t transformation_color_image_to_depth_camera_internal(
     const k4a_calibration_t *calibration,
     const k4a_transformation_xy_tables_t *xy_tables_depth_camera,

src/transformation/rgbz.c

@@ -66,7 +66,7 @@ static bool transformation_compare_image_descriptors(const k4a_transformation_im
         descriptor1->height_pixels != descriptor2->height_pixels ||
         descriptor1->stride_bytes != descriptor2->stride_bytes)
     {
-        LOG_ERROR("Unexpected image descriptor. Expect width_pixels: %d, height_pixels: %d, stride_bytes: %d. "
+        LOG_ERROR("Unexpected image descriptor. Expected width_pixels: %d, height_pixels: %d, stride_bytes: %d. "
                   "Actual width_pixels: %d, height_pixels: %d, stride_bytes: %d.",
                   descriptor1->width_pixels,
                   descriptor1->height_pixels,
@@ -459,7 +459,7 @@ static k4a_result_t transformation_depth_to_color(k4a_transformation_rgbz_contex
     return K4A_RESULT_SUCCEEDED;
 }
 
-k4a_buffer_result_t transformation_depth_image_to_color_camera_internal(
+k4a_buffer_result_t transformation_depth_image_to_color_camera_validate_parameters(
     const k4a_calibration_t *calibration,
     const k4a_transformation_xy_tables_t *xy_tables_depth_camera,
     const uint8_t *depth_image_data,
@@ -531,6 +531,28 @@ k4a_buffer_result_t transformation_depth_image_to_color_camera_internal(
         return K4A_BUFFER_RESULT_FAILED;
     }
 
+    return K4A_BUFFER_RESULT_SUCCEEDED;
+}
+
+k4a_buffer_result_t transformation_depth_image_to_color_camera_internal(
+    const k4a_calibration_t *calibration,
+    const k4a_transformation_xy_tables_t *xy_tables_depth_camera,
+    const uint8_t *depth_image_data,
+    const k4a_transformation_image_descriptor_t *depth_image_descriptor,
+    uint8_t *transformed_depth_image_data,
+    k4a_transformation_image_descriptor_t *transformed_depth_image_descriptor)
+{
+    if (K4A_FAILED(TRACE_CALL(
+            transformation_depth_image_to_color_camera_validate_parameters(calibration,
+                                                                           xy_tables_depth_camera,
+                                                                           depth_image_data,
+                                                                           depth_image_descriptor,
+                                                                           transformed_depth_image_data,
+                                                                           transformed_depth_image_descriptor))))
+    {
+        return K4A_BUFFER_RESULT_FAILED;
+    }
+
     k4a_transformation_rgbz_context_t context;
     memset(&context, 0, sizeof(k4a_transformation_rgbz_context_t));
 
@@ -641,7 +663,7 @@ static k4a_result_t transformation_color_to_depth(k4a_transformation_rgbz_contex
     return K4A_RESULT_SUCCEEDED;
 }
 
-k4a_buffer_result_t transformation_color_image_to_depth_camera_internal(
+k4a_buffer_result_t transformation_color_image_to_depth_camera_validate_parameters(
     const k4a_calibration_t *calibration,
     const k4a_transformation_xy_tables_t *xy_tables_depth_camera,
     const uint8_t *depth_image_data,
@@ -731,6 +753,32 @@ k4a_buffer_result_t transformation_color_image_to_depth_camera_internal(
         return K4A_BUFFER_RESULT_FAILED;
     }
 
+    return K4A_BUFFER_RESULT_SUCCEEDED;
+}
+
+k4a_buffer_result_t transformation_color_image_to_depth_camera_internal(
+    const k4a_calibration_t *calibration,
+    const k4a_transformation_xy_tables_t *xy_tables_depth_camera,
+    const uint8_t *depth_image_data,
+    const k4a_transformation_image_descriptor_t *depth_image_descriptor,
+    const uint8_t *color_image_data,
+    const k4a_transformation_image_descriptor_t *color_image_descriptor,
+    uint8_t *transformed_color_image_data,
+    k4a_transformation_image_descriptor_t *transformed_color_image_descriptor)
+{
+    if (K4A_FAILED(TRACE_CALL(
+            transformation_color_image_to_depth_camera_validate_parameters(calibration,
+                                                                           xy_tables_depth_camera,
+                                                                           depth_image_data,
+                                                                           depth_image_descriptor,
+                                                                           color_image_data,
+                                                                           color_image_descriptor,
+                                                                           transformed_color_image_data,
+                                                                           transformed_color_image_descriptor))))
+    {
+        return K4A_BUFFER_RESULT_FAILED;
+    }
+
     k4a_transformation_rgbz_context_t context;
     memset(&context, 0, sizeof(k4a_transformation_rgbz_context_t));
 

src/transformation/transformation.c

@@ -467,6 +467,17 @@ transformation_depth_image_to_color_camera(k4a_transformation_t transformation_h
 
     if (transformation_context->enable_gpu_optimization)
     {
+        if (K4A_FAILED(TRACE_CALL(transformation_depth_image_to_color_camera_validate_parameters(
+                &transformation_context->calibration,
+                &transformation_context->depth_camera_xy_tables,
+                depth_image_data,
+                depth_image_descriptor,
+                transformed_depth_image_data,
+                transformed_depth_image_descriptor))))
+        {
+            return K4A_RESULT_FAILED;
+        }
+
         size_t depth_image_size = (size_t)(depth_image_descriptor->stride_bytes *
                                            depth_image_descriptor->height_pixels);
         size_t transformed_depth_image_size = (size_t)(transformed_depth_image_descriptor->stride_bytes *
@@ -522,6 +533,19 @@ transformation_color_image_to_depth_camera(k4a_transformation_t transformation_h
 
     if (transformation_context->enable_gpu_optimization)
     {
+        if (K4A_FAILED(TRACE_CALL(transformation_color_image_to_depth_camera_validate_parameters(
+                &transformation_context->calibration,
+                &transformation_context->depth_camera_xy_tables,
+                depth_image_data,
+                depth_image_descriptor,
+                color_image_data,
+                color_image_descriptor,
+                transformed_color_image_data,
+                transformed_color_image_descriptor))))
+        {
+            return K4A_RESULT_FAILED;
+        }
+
         size_t depth_image_size = (size_t)(depth_image_descriptor->stride_bytes *
                                            depth_image_descriptor->height_pixels);
         size_t color_image_size = (size_t)(color_image_descriptor->stride_bytes *