From 7694fc18255afb59928159486af9c863fda256f2 Mon Sep 17 00:00:00 2001
From: Vladyslav Usenko <vlad.usenko@tum.de>
Date: Wed, 31 Jul 2019 12:51:23 +0200
Subject: [PATCH] small fix

---
 include/basalt/optimization/linearize.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/include/basalt/optimization/linearize.h b/include/basalt/optimization/linearize.h
index 2fe0cf7..3526708 100644
--- a/include/basalt/optimization/linearize.h
+++ b/include/basalt/optimization/linearize.h
@@ -153,7 +153,7 @@ struct LinearizeBase {
     } else {
       valid = cam.project(point3d, proj);
     }
-    if (!valid) return;
+    if (!valid || !proj.array().isFinite().all()) return;
 
     Eigen::Vector2d residual = proj - corner_pos;