i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-08 10:47:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Changed CameraModel::isValid() to CameraModel::isValidForProjection() for clarity (in contrast to CameraModel::isValidForRectification())

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/CameraStereo.cpp
+5 -5
View File
@@ -396,7 +396,7 @@ bool CameraStereoDC1394::init(const std::string & calibrationFolder, const std::
bool CameraStereoDC1394::isCalibrated() const
{
return stereoModel_.isValid();
return stereoModel_.isValidForProjection();
}
std::string CameraStereoDC1394::getSerial() const
@@ -431,7 +431,7 @@ SensorData CameraStereoDC1394::captureImage()
right = stereoModel_.right().rectifyImage(right);
}
StereoCameraModel model;
if(stereoModel_.isValid())
if(stereoModel_.isValidForProjection())
{
model = StereoCameraModel(
stereoModel_.left().fx(), //fx
@@ -849,7 +849,7 @@ bool CameraStereoImages::init(const std::string & calibrationFolder, const std::
bool CameraStereoImages::isCalibrated() const
{
return stereoModel_.isValid();
return stereoModel_.isValidForProjection();
}
std::string CameraStereoImages::getSerial() const
@@ -970,7 +970,7 @@ bool CameraStereoVideo::init(const std::string & calibrationFolder, const std::s
bool CameraStereoVideo::isCalibrated() const
{
return stereoModel_.isValid();
return stereoModel_.isValidForProjection();
}
std::string CameraStereoVideo::getSerial() const
@@ -999,7 +999,7 @@ SensorData CameraStereoVideo::captureImage()
rightCvt = true;
}
if(rectifyImages_ && stereoModel_.left().isValid() && stereoModel_.right().isValid())
if(rectifyImages_ && stereoModel_.left().isValidForRectification() && stereoModel_.right().isValidForRectification())
{
leftImage = stereoModel_.left().rectifyImage(leftImage);
rightImage = stereoModel_.right().rectifyImage(rightImage);