Merge pull request #1814 from luxonis/fix/IMU_empty_params

Fix IMU empty parameters on RVC4 devcie

Author: MaticTonin

src/device/CalibrationHandler.cpp

@@ -583,6 +583,9 @@ std::vector<std::vector<float>> CalibrationHandler::getExtrinsicsToOrigin(Camera
 }
 
 CameraBoardSocket CalibrationHandler::getCameraWithLowestId() const {
+    if(eepromData.cameraData.empty()) {
+        throw std::runtime_error("No camera data available in the calibration data.");
+    }
     dai::CameraBoardSocket currentCameraId = eepromData.cameraData.begin()->first;
     for(const auto& cameraData : eepromData.cameraData) {
         if(static_cast<int>(cameraData.first) < static_cast<int>(currentCameraId)) {

tests/src/onhost_tests/calibration_handler_test.cpp

@@ -382,6 +382,11 @@ TEST_CASE("Calibration availability depends on version and camera entries", "[ha
     REQUIRE_FALSE(valid.hasCameraCalibration(CameraBoardSocket::CAM_B));
 }
 
+TEST_CASE("Lowest camera id lookup throws for empty camera calibration", "[getCameraWithLowestId]") {
+    dai::CalibrationHandler handler;
+    REQUIRE_THROWS_WITH(handler.getCameraWithLowestId(), Catch::Matchers::ContainsSubstring("No camera data available"));
+}
+
 TEST_CASE("Legacy calibration version blocks camera-level getters", "[legacyCalibration][getFov][getLensPosition][getDistortionModel][getCameraExtrinsics]") {
     auto handler = loadLegacyHandlerWithCamera();