From 42487d841d1491c228127135c125eb77de3c7422 Mon Sep 17 00:00:00 2001
From: ackimixs <ackimixs@protonmail.com>
Date: Thu, 2 May 2024 13:14:04 +0200
Subject: [PATCH] try catch

---
 aruco/ArucoDetector.cpp | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/aruco/ArucoDetector.cpp b/aruco/ArucoDetector.cpp
index 67a7099..3fbd1b9 100644
--- a/aruco/ArucoDetector.cpp
+++ b/aruco/ArucoDetector.cpp
@@ -178,7 +178,12 @@ std::pair<int, std::vector<std::pair<ArucoTag, std::pair<cv::Mat, cv::Mat>>>> Ar
 
             cv::Mat rvec, tvec;
 
-            solvePnP(tag.objectRepresenation, markerCorners.at(i), cameraMatrix, distCoeffs, rvec, tvec, false);
+            try {
+                solvePnP(tag.objectRepresenation, markerCorners.at(i), cameraMatrix, distCoeffs, rvec, tvec, false);
+            } catch (const cv::Exception& e) {
+                std::cerr << "Error: " << e.what() << std::endl;
+                continue;
+            }
 
             if (!headless)
             {