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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/src/RegistrationVis.cpp
+9 -9
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@@ -532,17 +532,17 @@ Transform RegistrationVis::computeTransformationImpl(
if(_estimationType == 2) // Epipolar Geometry
{
UDEBUG("");
if(!signatureB->sensorData().stereoCameraModel().isValid() &&
if(!signatureB->sensorData().stereoCameraModel().isValidForProjection() &&
(signatureB->sensorData().cameraModels().size() != 1 ||
!signatureB->sensorData().cameraModels()[0].isValid()))
!signatureB->sensorData().cameraModels()[0].isValidForProjection()))
{
UERROR("Calibrated camera required (multi-cameras not supported).");
}
else if((int)signatureA->getWords().size() >= _minInliers &&
(int)signatureB->getWords().size() >= _minInliers)
{
UASSERT(signatureA->sensorData().stereoCameraModel().isValid() || (signatureA->sensorData().cameraModels().size() == 1 && signatureA->sensorData().cameraModels()[0].isValid()));
const CameraModel & cameraModel = signatureA->sensorData().stereoCameraModel().isValid()?signatureA->sensorData().stereoCameraModel().left():signatureA->sensorData().cameraModels()[0];
UASSERT(signatureA->sensorData().stereoCameraModel().isValidForProjection() || (signatureA->sensorData().cameraModels().size() == 1 && signatureA->sensorData().cameraModels()[0].isValidForProjection()));
const CameraModel & cameraModel = signatureA->sensorData().stereoCameraModel().isValidForProjection()?signatureA->sensorData().stereoCameraModel().left():signatureA->sensorData().cameraModels()[0];
// we only need the camera transform, send guess words3 for scale estimation
Transform cameraTransform;
@@ -602,14 +602,14 @@ Transform RegistrationVis::computeTransformationImpl(
else if(_estimationType == 1) // PnP
{
UDEBUG("");
if(!signatureB->sensorData().stereoCameraModel().isValid() &&
if(!signatureB->sensorData().stereoCameraModel().isValidForProjection() &&
(signatureB->sensorData().cameraModels().size() != 1 ||
!signatureB->sensorData().cameraModels()[0].isValid()))
!signatureB->sensorData().cameraModels()[0].isValidForProjection()))
{
UERROR("Calibrated camera required (multi-cameras not supported). Id=%d Models=%d StereoModel=%d weight=%d",
signatureB->id(),
(int)signatureB->sensorData().cameraModels().size(),
signatureB->sensorData().stereoCameraModel().isValid()?1:0,
signatureB->sensorData().stereoCameraModel().isValidForProjection()?1:0,
signatureB->getWeight());
}
else
@@ -619,8 +619,8 @@ Transform RegistrationVis::computeTransformationImpl(
if((int)signatureA->getWords3().size() >= _minInliers &&
(int)signatureB->getWords().size() >= _minInliers)
{
UASSERT(signatureB->sensorData().stereoCameraModel().isValid() || (signatureB->sensorData().cameraModels().size() == 1 && signatureB->sensorData().cameraModels()[0].isValid()));
const CameraModel & cameraModel = signatureB->sensorData().stereoCameraModel().isValid()?signatureB->sensorData().stereoCameraModel().left():signatureB->sensorData().cameraModels()[0];
UASSERT(signatureB->sensorData().stereoCameraModel().isValidForProjection() || (signatureB->sensorData().cameraModels().size() == 1 && signatureB->sensorData().cameraModels()[0].isValidForProjection()));
const CameraModel & cameraModel = signatureB->sensorData().stereoCameraModel().isValidForProjection()?signatureB->sensorData().stereoCameraModel().left():signatureB->sensorData().cameraModels()[0];
std::vector<int> inliersV;
std::vector<int> matchesV;