From 75342649fa63b89d6306e6de969cdd517b7be643 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Sat, 26 Nov 2022 18:03:12 -0800
Subject: [PATCH] getDepth: return invalid depth when value is zero (for float
 depth images)

---
 src/ros/FindObjectROS.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/ros/FindObjectROS.cpp b/src/ros/FindObjectROS.cpp
index 01bd6cd8..8650ab5f 100644
--- a/src/ros/FindObjectROS.cpp
+++ b/src/ros/FindObjectROS.cpp
@@ -332,7 +332,7 @@ cv::Vec3f FindObjectROS::getDepth(const cv::Mat & depthImage,
 	else
 	{
 		depth = depthImage.at<float>(y,x);
-		isValid = std::isfinite(depth);
+		isValid = std::isfinite(depth) && depth > 0.0f;
 	}
 
 	// Check for invalid measurements