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

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matlabbe
2016-01-19 21:01:56 -05:00
parent d162fcf34e
commit eb21280f04
31 changed files with 157 additions and 156 deletions
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corelib/include/rtabmap/core/CameraModel.h
+7 -5
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@@ -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_;}