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SensorData: ignore invalid CameraModel

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This commit is contained in:
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/src/SensorData.cpp
+26 -2
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@@ -313,6 +313,24 @@ SensorData::~SensorData()
{
}
bool SensorData::keepCameraModel(
const CameraModel & model,
const cv::Mat & rgb,
const cv::Mat & depth,
bool clearPreviousData) const
{
// An invalid model without any image is only a placeholder (e.g., scan-only data
// created with CameraModel()): it is not kept, so that cameraModels() is empty when
// there is no camera. An invalid model with an image is kept: images can be used
// without calibration, and they are split per camera model.
return model.isValidForProjection() ||
!rgb.empty() ||
!depth.empty() ||
(!clearPreviousData && (
!_imageRaw.empty() || !_imageCompressed.empty() ||
!_depthOrRightRaw.empty() || !_depthOrRightCompressed.empty()));
}
void SensorData::setRGBDImage(
const cv::Mat & rgb,
const cv::Mat & depth,
@@ -320,7 +338,10 @@ void SensorData::setRGBDImage(
bool clearPreviousData)
{
std::vector<CameraModel> models;
models.push_back(model);
if(keepCameraModel(model, rgb, depth, clearPreviousData))
{
models.push_back(model);
}
setRGBDImage(rgb, depth, models, clearPreviousData);
}
void SensorData::setRGBDImage(
@@ -331,7 +352,10 @@ void SensorData::setRGBDImage(
bool clearPreviousData)
{
std::vector<CameraModel> models;
models.push_back(model);
if(keepCameraModel(model, rgb, depth, clearPreviousData))
{
models.push_back(model);
}
setRGBDImage(rgb, depth, depthConfidence, models, clearPreviousData);
}
void SensorData::setRGBDImage(