Merge pull request #332 from peci1/patch-1

apriltag_quad_thresh: Prevent conversion from NaN to int
AprilRobotics · May 26, 2024 · c4449c7 · c4449c7
2 parents 21be60d + 11f30d3
commit c4449c7
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/apriltag_quad_thresh.c b/apriltag_quad_thresh.c
@@ -1810,7 +1810,8 @@ zarray_t* fit_quads(apriltag_detector_t *td, int w, int h, zarray_t* clusters, i
         normal_border |= !family->reversed_border;
         reversed_border |= family->reversed_border;
     }
-    min_tag_width /= td->quad_decimate;
+    if (td->quad_decimate > 1)
+        min_tag_width /= td->quad_decimate;
     if (min_tag_width < 3) {
         min_tag_width = 3;
     }