diff --git a/aslam_cv/aslam_cameras/include/aslam/cameras/implementation/PinholeProjection.hpp b/aslam_cv/aslam_cameras/include/aslam/cameras/implementation/PinholeProjection.hpp
index 51f237e47..a6c33c921 100644
--- 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