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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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corelib/src/OdometryThread.cpp
+2 -2
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@@ -105,7 +105,7 @@ void OdometryThread::addData(const SensorData & data)
{
if(dynamic_cast<OdometryMono*>(_odometry) == 0 && dynamic_cast<OdometryLocalMap*>(_odometry) == 0)
{
if(data.imageRaw().empty() || data.depthOrRightRaw().empty() || (data.cameraModels().size()==0 && !data.stereoCameraModel().isValid()))
if(data.imageRaw().empty() || data.depthOrRightRaw().empty() || (data.cameraModels().size()==0 && !data.stereoCameraModel().isValidForProjection()))
{
ULOGGER_ERROR("Missing some information (images empty or missing calibration)!?");
return;
@@ -114,7 +114,7 @@ void OdometryThread::addData(const SensorData & data)
else
{
// Mono and BOW can accept RGB only
if(data.imageRaw().empty() || (data.cameraModels().size()==0 && !data.stereoCameraModel().isValid()))
if(data.imageRaw().empty() || (data.cameraModels().size()==0 && !data.stereoCameraModel().isValidForProjection()))
{
ULOGGER_ERROR("Missing some information (image empty or missing calibration)!?");
return;