Merge pull request #350 from adujardin/master

Add validity check to focal guess
ethz-asl · Feb 26, 2022 · 445b946 · 445b946
2 parents 5d971b1 + 5c3c049
commit 445b946
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/aslam_cv/aslam_cameras/include/aslam/cameras/implementation/PinholeProjection.hpp b/aslam_cv/aslam_cameras/include/aslam/cameras/implementation/PinholeProjection.hpp
@@ -774,7 +774,8 @@ bool PinholeProjection<DISTORTION_T>::initializeIntrinsics(const std::vector<Gri
           continue;
 
          double f_guess = cv::norm(ipts.at(0) - ipts.at(1)) / M_PI;
-         f_guesses.push_back(f_guess);
+         if(std::isfinite(f_guess))
+            f_guesses.push_back(f_guess);
       }
     }
   }