From 2822f6a6f47b92b600de42fd1e82915f1b0b2fd7 Mon Sep 17 00:00:00 2001
From: Stefan Kohlbrecher <kohlbrecher@sim.tu-darmstadt.de>
Date: Sat, 6 May 2017 20:53:25 +0200
Subject: [PATCH] Fix abort of calibration due to focal length NANs by
 supplying a initial guess

---
 .../aslam/cameras/implementation/PinholeProjection.hpp     | 7 +++++--
 1 file changed, 5 insertions(+), 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
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