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fixed #55

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matlabbe
2016-03-15 12:29:36 -04:00
parent 280cb28030
commit bff0c1cb84
1 changed files with 3 additions and 3 deletions
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corelib/src/OptimizerCVSBA.cpp
+3 -3
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@@ -87,11 +87,11 @@ std::map<int, Transform> OptimizerCVSBA::optimizeBA(
CameraModel model; CameraModel model;
if(uContains(signatures, iter->first)) if(uContains(signatures, iter->first))
{ {
if(signatures.at(iter->first).sensorData().cameraModels().size() == 1 && signatures.at(iter->first).sensorData().cameraModels().at(0).isValid()) if(signatures.at(iter->first).sensorData().cameraModels().size() == 1 && signatures.at(iter->first).sensorData().cameraModels().at(0).isValidForProjection())
{ {
model = signatures.at(iter->first).sensorData().cameraModels()[0]; model = signatures.at(iter->first).sensorData().cameraModels()[0];
} }
else if(signatures.at(iter->first).sensorData().stereoCameraModel().isValid()) else if(signatures.at(iter->first).sensorData().stereoCameraModel().isValidForProjection())
{ {
model = signatures.at(iter->first).sensorData().stereoCameraModel().left(); model = signatures.at(iter->first).sensorData().stereoCameraModel().left();
} }
@@ -105,7 +105,7 @@ std::map<int, Transform> OptimizerCVSBA::optimizeBA(
UERROR("Did not find node %d in cache", iter->first); UERROR("Did not find node %d in cache", iter->first);
} }
if(model.isValid()) if(model.isValidForProjection())
{ {
frameIdToIndex.insert(std::make_pair(iter->first, oi)); frameIdToIndex.insert(std::make_pair(iter->first, oi));