From bf4715b73cb2dbc95496086c49af8810d62cfa13 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Wed, 8 Jul 2015 15:44:49 -0400
Subject: [PATCH] fixed fatal error (fx not defined) on stereo camera
 calibration

---
 corelib/src/CameraStereo.cpp | 18 +++++++++++-------
 1 file changed, 11 insertions(+), 7 deletions(-)

diff --git a/corelib/src/CameraStereo.cpp b/corelib/src/CameraStereo.cpp
index 5e717120..ef208066 100644
--- a/corelib/src/CameraStereo.cpp
+++ b/corelib/src/CameraStereo.cpp
@@ -424,13 +424,17 @@ SensorData CameraStereoDC1394::captureImage()
 			// Rectification
 			left = stereoModel_.left().rectifyImage(left);
 			right = stereoModel_.right().rectifyImage(right);
-			StereoCameraModel model(
-					stereoModel_.left().fx(), //fx
-					stereoModel_.left().fy(), //fy
-					stereoModel_.left().cx(), //cx
-					stereoModel_.left().cy(), //cy
-					stereoModel_.baseline(),
-					this->getLocalTransform());
+			StereoCameraModel model;
+			if(stereoModel_.isValid())
+			{
+				model = StereoCameraModel(
+						stereoModel_.left().fx(), //fx
+						stereoModel_.left().fy(), //fy
+						stereoModel_.left().cx(), //cx
+						stereoModel_.left().cy(), //cy
+						stereoModel_.baseline(),
+						this->getLocalTransform());
+			}
 			data = SensorData(left, right, model, this->getNextSeqID(), UTimer::now());
 		}
 	}