From 38f46874aed044d2d7f0b4ae093b41636c7a7a45 Mon Sep 17 00:00:00 2001
From: batters21 <batters21@yandex.ru>
Date: Mon, 1 Feb 2021 15:31:04 +0300
Subject: [PATCH] issue 2817 fixed

---
 modules/rgbd/src/kinfu_frame.cpp | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/modules/rgbd/src/kinfu_frame.cpp b/modules/rgbd/src/kinfu_frame.cpp
index ce160dd5f3c..76d80902b7b 100644
--- a/modules/rgbd/src/kinfu_frame.cpp
+++ b/modules/rgbd/src/kinfu_frame.cpp
@@ -623,8 +623,9 @@ void makeFrameFromDepth(InputArray _depth,
 
     // looks like OpenCV's bilateral filter works the same as KinFu's
     Depth smooth;
-
-    bilateralFilter(depth, smooth, kernelSize, sigmaDepth*depthFactor, sigmaSpatial);
+    Depth depthNoNans = depth.clone();
+    patchNaNs(depthNoNans);
+    bilateralFilter(depthNoNans, smooth, kernelSize, sigmaDepth*depthFactor, sigmaSpatial);
 
     // depth truncation can be used in some scenes
     Depth depthThreshold;