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CLAMS: added isFinite conditions in coneFit (before reproject) http://official-rtab-map-forum.67519.x6.nabble.com/Depth-calibration-fatal-error-td2682.html

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matlabbe
2017-02-25 16:14:18 -05:00
parent 3cf21a7e7f
commit 8ab609471a
1 changed files with 5 additions and 0 deletions
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5
corelib/src/clams/frame_projector.cpp
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@@ -190,6 +190,11 @@ namespace clams
pt_lr.x += radius; pt_lr.x += radius;
pt_lr.y += radius; pt_lr.y += radius;
if(!pcl::isFinite(pt_ul) || !pcl::isFinite(pt_lr))
{
return false;
}
ppt_ul = reproject(pt_ul); ppt_ul = reproject(pt_ul);
ppt_lr = reproject(pt_lr); 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)) if(ppt_ul.z_ == 0 || !(ppt_ul.u_ >= 0 && ppt_ul.v_ >= 0 && ppt_ul.u_ < imageSize.width && ppt_ul.v_ < imageSize.height))