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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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10
corelib/src/util3d.cpp
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@@ -524,7 +524,7 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP cloudFromSensorData(
int subImageWidth = sensorData.depthRaw().cols/sensorData.cameraModels().size();
for(unsigned int i=0; i<sensorData.cameraModels().size(); ++i)
{
if(sensorData.cameraModels()[i].isValid())
if(sensorData.cameraModels()[i].isValidForProjection())
{
pcl::PointCloud<pcl::PointXYZ>::Ptr tmp = util3d::cloudFromDepth(
cv::Mat(sensorData.depthRaw(), cv::Rect(subImageWidth*i, 0, subImageWidth, sensorData.depthRaw().rows)),
@@ -579,7 +579,7 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP cloudFromSensorData(
cloud = util3d::voxelize(cloud, voxelSize);
}
}
else if(!sensorData.imageRaw().empty() && !sensorData.rightRaw().empty() && sensorData.stereoCameraModel().isValid())
else if(!sensorData.imageRaw().empty() && !sensorData.rightRaw().empty() && sensorData.stereoCameraModel().isValidForProjection())
{
//stereo
UASSERT(sensorData.rightRaw().type() == CV_8UC1);
@@ -636,7 +636,7 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudRGBFromSensorData(
{
UASSERT(!sensorData.imageRaw().empty());
UASSERT((!sensorData.depthRaw().empty() && sensorData.cameraModels().size()) ||
(!sensorData.rightRaw().empty() && sensorData.stereoCameraModel().isValid()));
(!sensorData.rightRaw().empty() && sensorData.stereoCameraModel().isValidForProjection()));
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
if(!sensorData.depthRaw().empty() && sensorData.cameraModels().size())
@@ -648,7 +648,7 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudRGBFromSensorData(
int subImageWidth = sensorData.imageRaw().cols/sensorData.cameraModels().size();
for(unsigned int i=0; i<sensorData.cameraModels().size(); ++i)
{
if(sensorData.cameraModels()[i].isValid())
if(sensorData.cameraModels()[i].isValidForProjection())
{
if(subImageWidth % decimation != 0 || sensorData.depthRaw().rows % decimation != 0)
{
@@ -711,7 +711,7 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudRGBFromSensorData(
cloud = util3d::voxelize(cloud, voxelSize);
}
}
else if(!sensorData.rightRaw().empty() && sensorData.stereoCameraModel().isValid())
else if(!sensorData.rightRaw().empty() && sensorData.stereoCameraModel().isValidForProjection())
{
//stereo
UDEBUG("");