From e119b24fded86ef3faabca394d529a88e8bd221f Mon Sep 17 00:00:00 2001
From: RomanJos <42180076+RomanJos@users.noreply.github.com>
Date: Sat, 21 Sep 2024 10:56:31 +0200
Subject: [PATCH] Don't generate aprilgrid targets if size < 3*3

---
 .../kalibr/python/kalibr_create_target_pdf                    | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/aslam_offline_calibration/kalibr/python/kalibr_create_target_pdf b/aslam_offline_calibration/kalibr/python/kalibr_create_target_pdf
index 27e31dcc0..777d3f817 100755
--- a/aslam_offline_calibration/kalibr/python/kalibr_create_target_pdf
+++ b/aslam_offline_calibration/kalibr/python/kalibr_create_target_pdf
@@ -92,6 +92,10 @@ def generateAprilBoard(canvas, n_cols, n_rows, tagSize, tagSpacing=0.25, tagFami
         print("[ERROR]: Invalid tagSpacing specified.  [0-1.0] of tagSize")
         sys.exit(0)
 
+    if(n_cols<3 or n_rows<3):
+        print("[ERROR]: The size of Aprilgrid targets must be greater than 3*3.")
+        sys.exit(0)
+
     if skipIds is None:
         skip_ids = []