i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-04 17:17:47 +08:00
Code Issues Packages Projects Releases Wiki Activity

SensorData's isValid() method checks whether camera models are valid (#1769)

Browse Source 
* SensorData's isValid() method checks whether camera models are valid

* Added tests and doc

---------

Co-authored-by: matlabbe <[email protected]>
This commit is contained in:
Borong Yuan
2026-09-28 09:22:24 -07:00
committed by GitHub
co-authored by matlabbe
parent 1088df9a7f
commit b03344842e
2 changed files with 51 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/test/test_sensordata.cpp
+34 -1
View File
@@ -187,10 +187,43 @@ TEST(SensorDataTest, IsValidWithId)
TEST(SensorDataTest, IsValidWithStamp)
{
// A stamp alone doesn't make the data valid
SensorData data;
EXPECT_FALSE(data.isValid());
data.setStamp(12345.0);
EXPECT_FALSE(data.isValid());
}
TEST(SensorDataTest, IsValidWithCameraModel)
{
SensorData data;
data.setRGBDImage(cv::Mat(), cv::Mat(), CameraModel());
EXPECT_FALSE(data.cameraModels().empty());
EXPECT_FALSE(data.isValid()); // not valid for projection
data.setRGBDImage(cv::Mat(), cv::Mat(), CameraModel(525.0, 525.0, 320.0, 240.0));
EXPECT_TRUE(data.isValid());
// At least one valid model among multiple cameras
std::vector<CameraModel> models;
models.push_back(CameraModel());
models.push_back(CameraModel(525.0, 525.0, 320.0, 240.0));
data.setRGBDImage(cv::Mat(), cv::Mat(), models);
EXPECT_TRUE(data.isValid());
}
TEST(SensorDataTest, IsValidWithStereoCameraModel)
{
SensorData data;
data.setStereoImage(cv::Mat(), cv::Mat(), StereoCameraModel());
EXPECT_FALSE(data.stereoCameraModels().empty());
EXPECT_FALSE(data.isValid()); // not valid for projection
data.setStereoImage(cv::Mat(), cv::Mat(), StereoCameraModel(525.0, 525.0, 320.0, 240.0, 0.0));
EXPECT_FALSE(data.isValid()); // null baseline
data.setStereoImage(cv::Mat(), cv::Mat(), StereoCameraModel(525.0, 525.0, 320.0, 240.0, 0.12));
EXPECT_TRUE(data.isValid());
}