handle non-finite laser readings

artivis · Apr 18, 2018 · ae01076 · ae01076 · wangrui449966 · Jul 10, 2020
1 parent e0598e8
commit ae01076
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/src/CLaserOdometry2D.cpp b/src/CLaserOdometry2D.cpp
@@ -292,7 +292,7 @@ void CLaserOdometry2D::createImagePyramid()
         //Inner pixels
         if ((u>1)&&(u<cols_i-2))
         {
-          if (dcenter > 0.f)
+          if (std::isfinite(dcenter) && dcenter > 0.f)
           {
             float sum = 0.f;
             float weight = 0.f;
@@ -316,7 +316,7 @@ void CLaserOdometry2D::createImagePyramid()
         //Boundary
         else
         {
-          if (dcenter > 0.f)
+          if (std::isfinite(dcenter) && dcenter > 0.f)
           {
             float sum = 0.f;
             float weight = 0.f;