Merge branch '438-drawing-of-calibration-points-crashes-on-more-2d-than-3d-points' into 'master'

fix crash on more 2D points than 3D points

Closes #438

See merge request !413

src/calibration/extrCalibration.cpp

@@ -690,9 +690,7 @@ bool ExtrCalibration::calcReprojectionError(const ExtrinsicParameters &extrParam
         max_px,
         mControlWidget->getDefaultHeight()};
 
-    return reprojectionError.pointHeightAvg() > MAX_AV_ERROR ?
-               false :
-               true; // Falls pixel fehler im schnitt > 20 ist das Ergebnis nicht akzeptabel
+    return reprojectionError.pointHeightAvg() <= MAX_AV_ERROR; // if average error > 20, result is not acceptable
 }
 
 /**

src/ui/visualization/coordItem.cpp

@@ -199,31 +199,33 @@ void CoordItem::paint(QPainter *painter, const QStyleOptionGraphicsItem * /*opti
                 cv::Point2f p2 = extCalib->get2DList().at(i);
                 painter->drawEllipse(p2.x - 8, p2.y - 8, 16, 16);
 
-                // general configuration
-                painter->setPen(Qt::blue);
-                painter->setBrush(Qt::blue);
-
-                // Projected 3D-Points
-                cv::Point3f p3d   = extCalib->get3DList().at(i);
-                auto        trans = mCoordSys->getCoordTrans3D();
-                p3d -= trans.toCvPoint();
+                // Show point number
+                painter->setPen(Qt::black);
+                painter->setBrush(Qt::black);
+                painter->drawText(QPointF(p2.x + 10, p2.y + font.pixelSize()), QObject::tr("%1").arg((i + 1)));
 
-                auto swap = mCoordSys->getSwap3D();
-                p3d.x *= (swap.x ? -1 : 1);
-                p3d.y *= (swap.y ? -1 : 1);
-                p3d.z *= (swap.z ? -1 : 1);
+                if(i < extCalib->get3DList().size())
+                {
+                    // general configuration
+                    painter->setPen(Qt::blue);
+                    painter->setBrush(Qt::blue);
+                    // Projected 3D-Points
+                    cv::Point3f p3d   = extCalib->get3DList().at(i);
+                    auto        trans = mCoordSys->getCoordTrans3D();
+                    p3d -= trans.toCvPoint();
 
-                cv::Point2f p3 = extCalib->getImagePoint(p3d);
+                    auto swap = mCoordSys->getSwap3D();
+                    p3d.x *= (swap.x ? -1 : 1);
+                    p3d.y *= (swap.y ? -1 : 1);
+                    p3d.z *= (swap.z ? -1 : 1);
 
-                painter->drawEllipse(p3.x - 4, p3.y - 4, 8, 8);
+                    cv::Point2f p3 = extCalib->getImagePoint(p3d);
 
-                // Connecting-line Pixel-3D-Points
-                painter->drawLine(QPointF(p2.x, p2.y), QPointF(p3.x, p3.y));
+                    painter->drawEllipse(p3.x - 4, p3.y - 4, 8, 8);
 
-                // Show point number
-                painter->setPen(Qt::black);
-                painter->setBrush(Qt::black);
-                painter->drawText(QPointF(p2.x + 10, p2.y + font.pixelSize()), QObject::tr("%1").arg((i + 1)));
+                    // Connecting-line Pixel-3D-Points
+                    painter->drawLine(QPointF(p2.x, p2.y), QPointF(p3.x, p3.y));
+                }
             }
         }
     }