diff --git a/src/calibration/calibraiton_helper.cpp b/src/calibration/calibraiton_helper.cpp
index c96c74b..323f26d 100644
--- a/src/calibration/calibraiton_helper.cpp
+++ b/src/calibration/calibraiton_helper.cpp
@@ -69,7 +69,9 @@ bool estimateTransformation(
 
   for (size_t i = 0; i < corners.size(); i++) {
     Eigen::Vector4d tmp;
-    cam_calib.unproject(corners[i], tmp);
+    if (!cam_calib.unproject(corners[i], tmp)) {
+      continue;
+    }
     Eigen::Vector3d bearing = tmp.head<3>();
     Eigen::Vector3d point = aprilgrid_corner_pos_3d[corner_ids[i]].head<3>();
     bearing.normalize();
diff --git a/src/calibration/cam_calib.cpp b/src/calibration/cam_calib.cpp
index da21587..b70f402 100644
--- a/src/calibration/cam_calib.cpp
+++ b/src/calibration/cam_calib.cpp
@@ -486,7 +486,8 @@ void CamCalib::initCamIntrinsics() {
   for (size_t j = 0; j < vio_dataset->get_num_cams(); j++) {
     if (!cam_initialized[j]) {
       std::vector<CalibCornerData *> pinhole_corners;
-      int w, h;
+      int w = 0;
+      int h = 0;
 
       for (size_t i = 0; i < vio_dataset->get_image_timestamps().size();
            i += inc) {
@@ -507,6 +508,8 @@ void CamCalib::initCamIntrinsics() {
         h = img_vec[j].img->h;
       }
 
+      BASALT_ASSERT(w > 0 && h > 0);
+
       Eigen::Vector4d init_intr;
 
       bool success = CalibHelper::initializeIntrinsicsPinhole(