From dc8a94f2b0d73aaf5a2b4af4d02759e027aa7d6b Mon Sep 17 00:00:00 2001
From: Henri Rebecq <h.rebecq@gmail.com>
Date: Mon, 16 Sep 2019 10:04:26 +0200
Subject: [PATCH] Fix crash when contrast threshold < 0 #43

---
 event_camera_simulator/esim/src/event_simulator.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/event_camera_simulator/esim/src/event_simulator.cpp b/event_camera_simulator/esim/src/event_simulator.cpp
index fa81286..a52911f 100644
--- a/event_camera_simulator/esim/src/event_simulator.cpp
+++ b/event_camera_simulator/esim/src/event_simulator.cpp
@@ -58,6 +58,8 @@ Events EventSimulator::imageCallback(const Image& img, Time time)
         if(sigma_C > 0)
         {
           C += ze::sampleNormalDistribution<ImageFloatType>(false, 0, sigma_C);
+          constexpr ImageFloatType minimum_contrast_threshold = 0.01;
+          C = std::max(minimum_contrast_threshold, C);
         }
         ImageFloatType curr_cross = prev_cross;
         bool all_crossings = false;