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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/test/test_sensordata.cpp
+30 -1
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@@ -199,7 +199,7 @@ TEST(SensorDataTest, IsValidWithCameraModel)
{
SensorData data;
data.setRGBDImage(cv::Mat(), cv::Mat(), CameraModel());
EXPECT_FALSE(data.cameraModels().empty());
EXPECT_TRUE(data.cameraModels().empty()); // invalid without image: placeholder not kept
EXPECT_FALSE(data.isValid()); // not valid for projection
data.setRGBDImage(cv::Mat(), cv::Mat(), CameraModel(525.0, 525.0, 320.0, 240.0));
@@ -986,3 +986,32 @@ TEST(SensorDataTest, DifferentDepthTypes)
EXPECT_EQ(data.depthOrRightRaw().type(), CV_32FC1);
}
// An invalid CameraModel without any image is a placeholder (e.g., lidar odometry
// creating scan-only data with CameraModel()): it is not kept. With an image, it is kept,
// as images can be used without calibration.
TEST(SensorDataTest, InvalidCameraModelIsKeptOnlyWithImages)
{
const LaserScan scan(cv::Mat(1, 3, CV_32FC2, cv::Scalar(1.0f, 0.0f)), 0, 10.0f, LaserScan::kXY);
const SensorData scanOnly(scan, cv::Mat(), cv::Mat(), CameraModel(), 1, 1.0);
EXPECT_TRUE(scanOnly.cameraModels().empty());
EXPECT_TRUE(scanOnly.isValid());
const cv::Mat image(4, 6, CV_8UC1, cv::Scalar(1));
const SensorData uncalibrated(image, CameraModel(), 1, 1.0);
EXPECT_EQ(uncalibrated.cameraModels().size(), 1u);
const SensorData compressedOnly(compressImage2(image, ".png"), CameraModel(), 1, 1.0);
EXPECT_EQ(compressedOnly.cameraModels().size(), 1u);
const CameraModel valid(10.0, 10.0, 3.0, 2.0);
const SensorData calibratedNoImage(scan, cv::Mat(), cv::Mat(), valid, 1, 1.0);
EXPECT_EQ(calibratedNoImage.cameraModels().size(), 1u) << "valid models are always kept";
// Keeping the images already there: they still need their model
SensorData data(image, CameraModel(), 1, 1.0);
data.setRGBDImage(cv::Mat(), cv::Mat(), CameraModel(), false);
EXPECT_EQ(data.cameraModels().size(), 1u);
data.setRGBDImage(cv::Mat(), cv::Mat(), CameraModel(), true);
EXPECT_TRUE(data.cameraModels().empty()) << "images cleared, nothing left to describe";
}