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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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8
tools/CameraRGBD/main.cpp
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@@ -254,7 +254,7 @@ int main(int argc, char * argv[])
data.imageRaw().cols, data.imageRaw().rows, data.depthOrRightRaw().cols, data.depthOrRightRaw().rows);
}
pcl::visualization::CloudViewer * viewer = 0;
if(!data.stereoCameraModel().isValid() && (data.cameraModels().size() == 0 || !data.cameraModels()[0].isValid()))
if(!data.stereoCameraModel().isValidForProjection() && (data.cameraModels().size() == 0 || !data.cameraModels()[0].isValidForProjection()))
{
UWARN("Camera not calibrated! The registered cloud cannot be shown.");
}
@@ -328,7 +328,7 @@ int main(int argc, char * argv[])
if(rgb.cols == depth.cols && rgb.rows == depth.rows &&
data.cameraModels().size() &&
data.cameraModels()[0].isValid())
data.cameraModels()[0].isValidForProjection())
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = rtabmap::util3d::cloudFromDepthRGB(
rgb, depth,
@@ -342,7 +342,7 @@ int main(int argc, char * argv[])
}
else if(!depth.empty() &&
data.cameraModels().size() &&
data.cameraModels()[0].isValid())
data.cameraModels()[0].isValidForProjection())
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud = rtabmap::util3d::cloudFromDepth(
depth,
@@ -369,7 +369,7 @@ int main(int argc, char * argv[])
cv::imshow("Left", rgb); // show frame
cv::imshow("Right", right);
if(rgb.cols == right.cols && rgb.rows == right.rows && data.stereoCameraModel().isValid())
if(rgb.cols == right.cols && rgb.rows == right.rows && data.stereoCameraModel().isValidForProjection())
{
if(right.channels() == 3)
{

2
tools/StereoEval/main.cpp
View File

@@ -213,7 +213,7 @@ int main(int argc, char * argv[])
CameraModel(K[0].at<double>(0,0), K[0].at<double>(1,1), K[0].at<double>(0,2), K[0].at<double>(1,2)),
CameraModel(K[1].at<double>(0,0), K[1].at<double>(1,1), K[1].at<double>(0,2), K[1].at<double>(1,2), Transform::getIdentity(), -baseline/K[1].at<double>(0,0)));
UASSERT(model.isValid());
UASSERT(model.isValidForProjection());
UINFO("Processing...");