Fixed build errors against 0.11.2

src/DbPlayerNode.cpp

@@ -214,7 +214,7 @@ int main(int argc, char** argv)
 		else if(!odom.data().rightRaw().empty() && odom.data().rightRaw().type() == CV_8U)
 		{
 			//stereo
-			if(odom.data().stereoCameraModel().isValid())
+			if(odom.data().stereoCameraModel().isValidForProjection())
 			{
 				camInfoA.D.resize(8,0);
 
@@ -262,7 +262,7 @@ int main(int argc, char** argv)
 			{
 				localTransform = odom.data().cameraModels()[0].localTransform();
 			}
-			else if(odom.data().stereoCameraModel().isValid())
+			else if(odom.data().stereoCameraModel().isValidForProjection())
 			{
 				localTransform = odom.data().stereoCameraModel().left().localTransform();
 			}

src/MapsManager.cpp

@@ -224,12 +224,12 @@ std::map<int, rtabmap::Transform> MapsManager::updateMapCaches(
 				{
 					if(!(data.imageCompressed().empty() && data.imageRaw().empty()) &&
 					   !(data.depthOrRightCompressed().empty() && data.depthOrRightRaw().empty()) &&
-					   (data.cameraModels().size() || data.stereoCameraModel().isValid()))
+					   (data.cameraModels().size() || data.stereoCameraModel().isValidForProjection()))
 					{
 						// Which data should we decompress?
 						cv::Mat image, depth, scan;
 						data.uncompressData(
-								(rgbDepthRequired||data.stereoCameraModel().isValid()) ? &image:0,
+								(rgbDepthRequired||data.stereoCameraModel().isValidForProjection()) ? &image:0,
 								(rgbDepthRequired||depthRequired) ? &depth:0,
 								scanRequired||gridRequired?&scan:0);
 
@@ -287,7 +287,7 @@ std::map<int, rtabmap::Transform> MapsManager::updateMapCaches(
 							// Make sure that image size is set in camera models.
 							// The camera models are used when cloud_frustum_culling=true.
 							std::vector<rtabmap::CameraModel> models;
-							if(data.stereoCameraModel().isValid())
+							if(data.stereoCameraModel().isValidForProjection())
 							{
 								//insert only the left camera model
 								rtabmap::CameraModel model = data.stereoCameraModel().left();
@@ -380,7 +380,7 @@ std::map<int, rtabmap::Transform> MapsManager::updateMapCaches(
 								iter->first,
 								!(data.imageCompressed().empty() && data.imageRaw().empty())?1:0,
 							   !(data.depthOrRightCompressed().empty() && data.depthOrRightRaw().empty())?1:0,
-							   (data.cameraModels().size() || data.stereoCameraModel().isValid())?1:0);
+							   (data.cameraModels().size() || data.stereoCameraModel().isValidForProjection())?1:0);
 					}
 				}
 			}
@@ -489,7 +489,7 @@ void MapsManager::publishMaps(
 					{
 						for(unsigned int i=0; i<kter->second.size(); ++i)
 						{
-							if(kter->second[i].isValid())
+							if(kter->second[i].isValidForProjection())
 							{
 								int size =  assembledCloud->size();
 								assembledCloud = util3d::frustumFiltering(

src/MsgConversion.cpp

@@ -487,7 +487,7 @@ rtabmap::Signature nodeDataFromROS(const rtabmap_ros::NodeData & msg)
 			msg.label,
 			transformFromPoseMsg(msg.pose),
 			transformFromPoseMsg(msg.groundTruthPose),
-			stereoModel.isValid()?
+			stereoModel.isValidForProjection()?
 				rtabmap::SensorData(
 					compressedMatFromBytes(msg.laserScan),
 					msg.laserScanMaxPts,
@@ -545,7 +545,7 @@ void nodeDataToROS(const rtabmap::Signature & signature, rtabmap_ros::NodeData &
 			transformToGeometryMsg(signature.sensorData().cameraModels()[i].localTransform(), msg.localTransform[i]);
 		}
 	}
-	else if(signature.sensorData().stereoCameraModel().isValid())
+	else if(signature.sensorData().stereoCameraModel().isValidForProjection())
 	{
 		msg.fx.push_back(signature.sensorData().stereoCameraModel().left().fx());
 		msg.fy.push_back(signature.sensorData().stereoCameraModel().left().fy());

src/rviz/MapCloudDisplay.cpp

@@ -259,7 +259,7 @@ void MapCloudDisplay::processMapData(const rtabmap_ros::MapData& map)
 			rtabmap::Signature s = rtabmap_ros::nodeDataFromROS(map.nodes[i]);
 			if(!s.sensorData().imageCompressed().empty() &&
 			   !s.sensorData().depthOrRightCompressed().empty() &&
-			   (s.sensorData().cameraModels().size() || s.sensorData().stereoCameraModel().isValid()))
+			   (s.sensorData().cameraModels().size() || s.sensorData().stereoCameraModel().isValidForProjection()))
 			{
 				cv::Mat image, depth;
 				s.sensorData().uncompressData(&image, &depth, 0);