removed asserts on CameraModel constructor when fx != 0 (but added the check in isValid() method)

2026-09-02 01:20:25 +08:00 · 2015-07-18 17:26:41 -04:00
parent 6bbde72840
commit 8c7f6ced6f
3 changed files with 12 additions and 10 deletions
--- a/corelib/include/rtabmap/core/CameraModel.h
+++ b/corelib/include/rtabmap/core/CameraModel.h
@@ -65,7 +65,9 @@ public:
 	bool isValid() const {return !K_.empty() &&
 									!D_.empty() &&
 									!R_.empty() &&
-									!P_.empty();}
+									!P_.empty() &&
+									fx()>0.0 &&
+									fy()>0.0;}

 	const std::string & name() const {return name_;}