i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 01:20:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Changed CameraModel::isValid() to CameraModel::isValidForProjection() for clarity (in contrast to CameraModel::isValidForRectification())

Browse Source
This commit is contained in:
matlabbe
2016-01-19 21:01:56 -05:00
parent d162fcf34e
commit eb21280f04
31 changed files with 157 additions and 156 deletions
Download Patch File Download Diff File Expand all files Collapse all files

12
corelib/include/rtabmap/core/CameraModel.h
View File

@@ -74,7 +74,7 @@ public:
void initRectificationMap();
bool isValid() const {return (!K_.empty() || !P_.empty()) && fx()>0.0 && fy()>0.0;}
bool isValidForProjection() const {return fx()>0.0 && fy()>0.0;}
bool isValidForRectification() const
{
return imageSize_.width>0 &&
@@ -94,10 +94,12 @@ public:
double cy() const {return P_.empty()?K_.empty()?0.0:K_.at<double>(1,2):P_.at<double>(1,2);}
double Tx() const {return P_.empty()?0.0:P_.at<double>(0,3);}
const cv::Mat & K() const {return K_;} //intrinsic camera matrix
const cv::Mat & D() const {return D_;} //intrinsic distorsion matrix
const cv::Mat & R() const {return R_;} //rectification matrix
const cv::Mat & P() const {return P_;} //projection matrix
cv::Mat K_raw() const {return K_;} //intrinsic camera matrix (before rectification)
cv::Mat D_raw() const {return D_;} //intrinsic distorsion matrix (before rectification)
cv::Mat K() const {return !P_.empty()?P_.colRange(0,3):K_;} // if P exists, return rectified version
cv::Mat D() const {return P_.empty()&&!D_.empty()?D_:cv::Mat::zeros(1,4,CV_64FC1);} // if P exists, return rectified version
cv::Mat R() const {return R_;} //rectification matrix
cv::Mat P() const {return P_;} //projection matrix
void setLocalTransform(const Transform & transform) {localTransform_ = transform;}
const Transform & localTransform() const {return localTransform_;}

2
corelib/include/rtabmap/core/SensorData.h
View File

@@ -139,7 +139,7 @@ public:
_laserScanRaw.empty() &&
_laserScanCompressed.empty() &&
_cameraModels.size() == 0 &&
!_stereoCameraModel.isValid() &&
!_stereoCameraModel.isValidForProjection() &&
_userDataRaw.empty() &&
_userDataCompressed.empty() &&
_keypoints.size() == 0 &&

2
corelib/include/rtabmap/core/StereoCameraModel.h
View File

@@ -80,7 +80,7 @@ public:
const Transform & localTransform = Transform::getIdentity());
virtual ~StereoCameraModel() {}
bool isValid() const {return left_.isValid() && right_.isValid() && baseline() > 0.0;}
bool isValidForProjection() const {return left_.isValidForProjection() && right_.isValidForProjection() && baseline() > 0.0;}
bool isValidForRectification() const {return left_.isValidForRectification() && right_.isValidForRectification();}
void initRectificationMap() {left_.initRectificationMap(); right_.initRectificationMap();}