Ignore polygons with < 3 points in ArViz visu

source/RobotAPI/components/ArViz/Coin/VisualizationPolygon.h

@@ -4,11 +4,14 @@
 
 #include <RobotAPI/interface/ArViz/Elements.h>
 
+#include <ArmarXCore/core/logging/Logging.h>
+
 #include <Inventor/nodes/SoCoordinate3.h>
 #include <Inventor/nodes/SoDrawStyle.h>
 #include <Inventor/nodes/SoFaceSet.h>
 #include <Inventor/nodes/SoLineSet.h>
 
+
 namespace armarx::viz::coin
 {
     struct VisualizationPolygon : TypedElementVisualization<SoSeparator>
@@ -41,6 +44,16 @@ namespace armarx::viz::coin
 
         bool update(ElementType const& element)
         {
+            if (element.points.size() < 3)
+            {
+                // A polygon with < 3 points is invalid.
+                ARMARX_WARNING << deactivateSpam(1000)
+                               << "Ignoring polygon '" << element.id << "' "
+                               << "with " << element.points.size() << " points "
+                               << "(a polygon requires >= 3 points).";
+                return true;
+            }
+
             int pointSize = (int)element.points.size();
 
             int i = 0;