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avoid zero division in RayCaster::setupRayCaster #418

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avoid zero division in RayCaster::setupRayCaster #418

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12 changes: 6 additions & 6 deletions voxblox/src/integrator/integrator_utils.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -157,24 +157,24 @@ void RayCaster::setupRayCaster(const Point& start_scaled,
Ray distance_to_boundaries(corrected_step.cast<FloatingPoint>() -
start_scaled_shifted);

t_to_next_boundary_ = Ray((std::abs(ray_scaled.x()) < 0.0)
t_to_next_boundary_ = Ray((std::abs(ray_scaled.x()) <= 0.0)
? 2.0
: distance_to_boundaries.x() / ray_scaled.x(),
(std::abs(ray_scaled.y()) < 0.0)
(std::abs(ray_scaled.y()) <= 0.0)
? 2.0
: distance_to_boundaries.y() / ray_scaled.y(),
(std::abs(ray_scaled.z()) < 0.0)
(std::abs(ray_scaled.z()) <= 0.0)
? 2.0
: distance_to_boundaries.z() / ray_scaled.z());

// Distance to cross one grid cell along the ray in t.
// Same as absolute inverse value of delta_coord.
t_step_size_ = Ray(
(std::abs(ray_scaled.x()) < 0.0) ? 2.0
(std::abs(ray_scaled.x()) <= 0.0) ? 2.0
: ray_step_signs_.x() / ray_scaled.x(),
(std::abs(ray_scaled.y()) < 0.0) ? 2.0
(std::abs(ray_scaled.y()) <= 0.0) ? 2.0
: ray_step_signs_.y() / ray_scaled.y(),
(std::abs(ray_scaled.z()) < 0.0) ? 2.0
(std::abs(ray_scaled.z()) <= 0.0) ? 2.0
: ray_step_signs_.z() / ray_scaled.z());
}

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