Corrected a bug (segfault) occuring when no positive idepth is available #81
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A segmentation fault can occur when no positive idepth is available on a level. This patch corrects it.
It also adds a condition check in order to avoid going in two debug functions (which are useless when "sampleoutput=1" is not set (launch parameter) nor debugSaveImages is true).
And these functions (mostly debugPlotIDepthMap) actually take a bit of processing time (around 25ms on Raspberry Pi 3) for 512x512 images even if the debug options are not set ("debugSaveImages=0" (default) and debugSaveImages=false (default)).