From 7a5f11ae39de2436d2d366702a3479cf6f8a4836 Mon Sep 17 00:00:00 2001
From: ob-yalian <luotao2025@163.com>
Date: Tue, 15 Sep 2026 19:45:58 +0800
Subject: [PATCH] fix: enhance JPEG validation and add corresponding tests

---
 orbbec_camera/src/utils.cpp                   | 15 +++++++++++--
 .../test/camera_info_distortion_test.cpp      | 21 +++++++++++++++++++
 2 files changed, 34 insertions(+), 2 deletions(-)

diff --git a/orbbec_camera/src/utils.cpp b/orbbec_camera/src/utils.cpp
index c9fe56c4..1dfcf64e 100644
--- a/orbbec_camera/src/utils.cpp
+++ b/orbbec_camera/src/utils.cpp
@@ -946,17 +946,28 @@ std::string parseUsbPort(const std::string &line) {
 }
 
 bool isValidJPEG(const std::shared_ptr<ob::ColorFrame> &frame) {
-  if (frame->getDataSize() < 2) {  // Checking both start and end markers, so minimal size is 4
+  if (!frame) {
     return false;
   }
 
+  const auto data_size = frame->getDataSize();
   const auto *data = static_cast<const uint8_t *>(frame->getData());
+  if (data == nullptr || data_size < 4) {
+    return false;
+  }
 
   // Check for JPEG start marker
   if (data[0] != 0xFF || data[1] != 0xD8) {
     return false;
   }
-  return true;
+
+  auto jpeg_size = data_size;
+  while (jpeg_size > 2 && data[jpeg_size - 1] == 0x00) {
+    --jpeg_size;
+  }
+
+  // Check for JPEG end marker after trimming zero padding.
+  return jpeg_size >= 4 && data[jpeg_size - 2] == 0xFF && data[jpeg_size - 1] == 0xD9;
 }
 
 std::string metaDataTypeToString(const OBFrameMetadataType &meta_data_type) {
diff --git a/orbbec_camera/test/camera_info_distortion_test.cpp b/orbbec_camera/test/camera_info_distortion_test.cpp
index 5c303284..0796e9ef 100644
--- a/orbbec_camera/test/camera_info_distortion_test.cpp
+++ b/orbbec_camera/test/camera_info_distortion_test.cpp
@@ -1,5 +1,6 @@
 #include <gtest/gtest.h>
 
+#include <cstring>
 #include <vector>
 
 #include "orbbec_camera/utils.h"
@@ -32,6 +33,14 @@ OBCameraDistortion makeDistortion(OBCameraDistortionModel model) {
   return distortion;
 }
 
+std::shared_ptr<ob::ColorFrame> makeMjpegFrame(const std::vector<uint8_t>& data) {
+  auto frame = ob::FrameFactory::createFrame(OB_FRAME_COLOR, OB_FORMAT_MJPG,
+                                             static_cast<uint32_t>(data.size()));
+  auto color_frame = frame->as<ob::ColorFrame>();
+  std::memcpy(color_frame->getData(), data.data(), data.size());
+  return color_frame;
+}
+
 TEST(CameraInfoDistortionTest, ConvertsBrownConradyToPlumbBob) {
   const auto intrinsic = makeIntrinsic();
   const auto distortion = makeDistortion(OB_DISTORTION_BROWN_CONRADY);
@@ -69,5 +78,17 @@ TEST(CameraInfoDistortionTest, ConvertsKannalaBrandtToEquidistant) {
             std::vector<double>({distortion.k1, distortion.k2, distortion.k3, distortion.k4}));
 }
 
+TEST(JpegValidationTest, AcceptsEoiBeforeZeroPadding) {
+  const auto frame = makeMjpegFrame({0xFF, 0xD8, 0x01, 0x02, 0xFF, 0xD9, 0x00, 0x00});
+
+  EXPECT_TRUE(isValidJPEG(frame));
+}
+
+TEST(JpegValidationTest, RejectsMjpegWithoutEoi) {
+  const auto frame = makeMjpegFrame({0xFF, 0xD8, 0x01, 0x02, 0x00, 0x00});
+
+  EXPECT_FALSE(isValidJPEG(frame));
+}
+
 }  // namespace
 }  // namespace orbbec_camera