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fixed #55

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This commit is contained in:
matlabbe
2016-03-15 12:29:36 -04:00
parent 280cb28030
commit bff0c1cb84
1 changed files with 3 additions and 3 deletions
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6
corelib/src/OptimizerCVSBA.cpp
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@@ -87,11 +87,11 @@ std::map<int, Transform> OptimizerCVSBA::optimizeBA(
CameraModel model;
if(uContains(signatures, iter->first))
{
if(signatures.at(iter->first).sensorData().cameraModels().size() == 1 && signatures.at(iter->first).sensorData().cameraModels().at(0).isValid())
if(signatures.at(iter->first).sensorData().cameraModels().size() == 1 && signatures.at(iter->first).sensorData().cameraModels().at(0).isValidForProjection())
{
model = signatures.at(iter->first).sensorData().cameraModels()[0];
}
else if(signatures.at(iter->first).sensorData().stereoCameraModel().isValid())
else if(signatures.at(iter->first).sensorData().stereoCameraModel().isValidForProjection())
{
model = signatures.at(iter->first).sensorData().stereoCameraModel().left();
}
@@ -105,7 +105,7 @@ std::map<int, Transform> OptimizerCVSBA::optimizeBA(
UERROR("Did not find node %d in cache", iter->first);
}
if(model.isValid())
if(model.isValidForProjection())
{
frameIdToIndex.insert(std::make_pair(iter->first, oi));