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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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4
corelib/src/OdometryMono.cpp
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@@ -189,14 +189,14 @@ Transform OdometryMono::computeTransform(const SensorData & data, OdometryInfo *
return output;
}
if(!(((data.cameraModels().size() == 1 && data.cameraModels()[0].isValid()) || data.stereoCameraModel().isValid())))
if(!(((data.cameraModels().size() == 1 && data.cameraModels()[0].isValidForProjection()) || data.stereoCameraModel().isValidForProjection())))
{
UERROR("Odometry cannot be done without calibration or on multi-camera!");
return output;
}
const CameraModel & cameraModel = data.stereoCameraModel().isValid()?data.stereoCameraModel().left():data.cameraModels()[0];
const CameraModel & cameraModel = data.stereoCameraModel().isValidForProjection()?data.stereoCameraModel().left():data.cameraModels()[0];
UTimer timer;