From d3ba3326918e3a2ef001fcf7736f04fdf0850662 Mon Sep 17 00:00:00 2001
From: Louise Poubel <louise@openrobotics.org>
Date: Wed, 29 May 2019 13:25:49 -0700
Subject: [PATCH] Ignore special conditions when normalizing image

---
 src/rviz/image/ros_image_texture.cpp | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/src/rviz/image/ros_image_texture.cpp b/src/rviz/image/ros_image_texture.cpp
index f694622298..6cd5f3aab4 100644
--- a/src/rviz/image/ros_image_texture.cpp
+++ b/src/rviz/image/ros_image_texture.cpp
@@ -127,6 +127,14 @@ void ROSImageTexture::normalize( T* image_data, size_t image_data_size, std::vec
     maxValue = std::numeric_limits<T>::min();
     for( unsigned i = 0; i < image_data_size; ++i )
     {
+      if (*input_ptr == std::numeric_limits<double>::infinity() ||
+          *input_ptr == -std::numeric_limits<double>::infinity() ||
+          *input_ptr == std::numeric_limits<double>::quiet_NaN())
+      {
+        input_ptr++;
+        continue;
+      }
+
       minValue = std::min( minValue, *input_ptr );
       maxValue = std::max( maxValue, *input_ptr );
       input_ptr++;