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

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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
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14
corelib/src/CameraRGB.cpp
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@@ -216,7 +216,7 @@ bool CameraImages::init(const std::string & calibrationFolder, const std::string
_model.setName(cameraName);
_model.setLocalTransform(this->getLocalTransform());
if(_rectifyImages && !_model.isValid())
if(_rectifyImages && !_model.isValidForRectification())
{
UERROR("Parameter \"rectifyImages\" is set, but no camera model is loaded or valid.");
return false;
@@ -401,7 +401,7 @@ bool CameraImages::init(const std::string & calibrationFolder, const std::string
bool CameraImages::isCalibrated() const
{
return _model.isValid();
return _model.isValidForProjection();
}
std::string CameraImages::getSerial() const
@@ -609,7 +609,7 @@ SensorData CameraImages::captureImage()
}
if(!img.empty() && _model.isValid() && _rectifyImages)
if(!img.empty() && _model.isValidForRectification() && _rectifyImages)
{
img = _model.rectifyImage(img);
}
@@ -623,7 +623,7 @@ SensorData CameraImages::captureImage()
if(_depthFromScan && !img.empty())
{
UDEBUG("Computing depth from scan...");
if(!_model.isValid())
if(!_model.isValidForProjection())
{
UWARN("Depth from laser scan: Camera model should be valid.");
}
@@ -760,7 +760,7 @@ bool CameraVideo::init(const std::string & calibrationFolder, const std::string
}
}
_model.setLocalTransform(this->getLocalTransform());
if(_rectifyImages && !_model.isValid())
if(_rectifyImages && !_model.isValidForRectification())
{
UERROR("Parameter \"rectifyImages\" is set, but no camera model is loaded or valid.");
return false;
@@ -771,7 +771,7 @@ bool CameraVideo::init(const std::string & calibrationFolder, const std::string
bool CameraVideo::isCalibrated() const
{
return _model.isValid();
return _model.isValidForProjection();
}
std::string CameraVideo::getSerial() const
@@ -786,7 +786,7 @@ SensorData CameraVideo::captureImage()
{
if(_capture.read(img))
{
if(_model.isValid() && (_src != kVideoFile || _rectifyImages))
if(_model.isValidForRectification() && (_src != kVideoFile || _rectifyImages))
{
img = _model.rectifyImage(img);
}