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SensorData: ignore invalid CameraModel

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matlabbe
2026-10-03 16:14:24 -07:00
parent b94d039d8c
commit c605506267
3 changed files with 61 additions and 3 deletions
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corelib/include/rtabmap/core/SensorData.h
+5
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@@ -598,6 +598,8 @@ public:
/**
* Set image data. Detect automatically if raw or compressed.
* A matrix of type CV_8UC1 with 1 row is considered as compressed.
* An invalid @p model (not CameraModel::isValidForProjection()) without any image is
* a placeholder (e.g., scan-only data): it is not added, so cameraModels() is empty.
* @param clearPreviousData, clear previous raw and compressed images before setting the new ones.
*/
void setRGBDImage(const cv::Mat & rgb, const cv::Mat & depth, const CameraModel & model, bool clearPreviousData = true);
@@ -1025,6 +1027,9 @@ public:
#endif
private:
/// Whether setRGBDImage() keeps @p model: not an invalid model without any image.
bool keepCameraModel(const CameraModel & model, const cv::Mat & rgb, const cv::Mat & depth, bool clearPreviousData) const;
int _id; ///< Unique sensor data ID (0 if invalid)
double _stamp; ///< Timestamp in seconds