From 8ab609471ae41211a6ff9b09f9e442ac11b54238 Mon Sep 17 00:00:00 2001 From: matlabbe Date: Sat, 25 Feb 2017 16:14:18 -0500 Subject: [PATCH] CLAMS: added isFinite conditions in coneFit (before reproject) http://official-rtab-map-forum.67519.x6.nabble.com/Depth-calibration-fatal-error-td2682.html --- corelib/src/clams/frame_projector.cpp | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/corelib/src/clams/frame_projector.cpp b/corelib/src/clams/frame_projector.cpp index 44bd393f..065cf9e7 100644 --- a/corelib/src/clams/frame_projector.cpp +++ b/corelib/src/clams/frame_projector.cpp @@ -190,6 +190,11 @@ namespace clams pt_lr.x += radius; pt_lr.y += radius; + if(!pcl::isFinite(pt_ul) || !pcl::isFinite(pt_lr)) + { + return false; + } + ppt_ul = reproject(pt_ul); ppt_lr = reproject(pt_lr); if(ppt_ul.z_ == 0 || !(ppt_ul.u_ >= 0 && ppt_ul.v_ >= 0 && ppt_ul.u_ < imageSize.width && ppt_ul.v_ < imageSize.height))