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You should file a ticket for this. The camera info message you see represents an uncalibrated camera, but is still a valid camera_info message. PinholeCameraModel should probably ROS_WARN or something when you attempt to make it with an uncalibrated or otherwise invalid camera_info message instead of segfaulting when it tries to apply that camera_info message.

On another note, you will have to provide a valid calibration in order for the PinholeCameraModel to use when projecting points to pixels.

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