Fix abort of calibration due to focal length NANs by supplying a init…

…ial guess
tu-darmstadt-ros-pkg · May 6, 2017 · 2822f6a · 2822f6a
1 parent 1c6df87
commit 2822f6a
Showing 1 changed file with 5 additions and 2 deletions.
diff --git a/aslam_cv/aslam_cameras/include/aslam/cameras/implementation/PinholeProjection.hpp b/aslam_cv/aslam_cameras/include/aslam/cameras/implementation/PinholeProjection.hpp
@@ -778,8 +778,11 @@ bool PinholeProjection<DISTORTION_T>::initializeIntrinsics(const std::vector<Gri
   }
 
   //get the median of the guesses
-  if(f_guesses.empty())
-    return false;
+  if(f_guesses.empty()){
+    //return false;
+    f_guesses.push_back(400.0);
+  }  
+
   double f0 = PinholeHelpers::medianOfVectorElements(f_guesses);
 
   //set the estimate