<!-- PLEASE ENSURE YOU REVIEW THE CONTENT OF EACH ISSUE CAREFULLY, INCLUDING SUBSEQUENT COMMENTS BY YOURSELF OR OTHERS. --> <!-- IN PARTICULAR PLEASE ENSURE THAT SENSITIVE OR INAPPROPRIATE INFORMATION IS NOT UPLOADED --> #### Description: <!-- Describe your issue here --> - Method returns null when camera device is inside obstacles that could be just skipped. - Arc creation crashes in some more complex cases #### Steps to reproduce: <!-- Please tell us how to reproduce this issue --> #### Expected behaviour: <!-- What result would you expect from the fix? --> #### Test file(s): <!-- Link to test files to help reproduce the bug and validate the proposed fixes -->