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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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guilib/src/MainWindow.cpp
+8 -8
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@@ -807,7 +807,7 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom)
if(odom.data().depthOrRightRaw().cols == odom.data().imageRaw().cols &&
odom.data().depthOrRightRaw().rows == odom.data().imageRaw().rows &&
!odom.data().depthOrRightRaw().empty() &&
(odom.data().cameraModels().size() || odom.data().stereoCameraModel().isValid()) &&
(odom.data().cameraModels().size() || odom.data().stereoCameraModel().isValidForProjection()) &&
_preferencesDialog->isCloudsShown(1))
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
@@ -5097,11 +5097,11 @@ bool MainWindow::getExportedClouds(
{
const Signature & s = _cachedSignatures.value(jter->first);
CameraModel model;
if(s.sensorData().stereoCameraModel().isValid())
if(s.sensorData().stereoCameraModel().isValidForProjection())
{
model = s.sensorData().stereoCameraModel().left();
}
else if(s.sensorData().cameraModels().size() == 1 && s.sensorData().cameraModels()[0].isValid())
else if(s.sensorData().cameraModels().size() == 1 && s.sensorData().cameraModels()[0].isValidForProjection())
{
model = s.sensorData().cameraModels()[0];
}
@@ -5110,7 +5110,7 @@ bool MainWindow::getExportedClouds(
{
s.sensorData().uncompressDataConst(&image, 0, 0, 0);
}
if(!jter->second.isNull() && model.isValid() && !image.empty())
if(!jter->second.isNull() && model.isValidForProjection() && !image.empty())
{
cameraPoses.insert(std::make_pair(jter->first, jter->second));
cameraModels.insert(std::make_pair(jter->first, model));
@@ -5171,7 +5171,7 @@ void MainWindow::exportImages()
QDir dir;
dir.mkdir(QString("%1/left").arg(path));
dir.mkdir(QString("%1/right").arg(path));
if(data.stereoCameraModel().isValid())
if(data.stereoCameraModel().isValidForProjection())
{
std::string cameraName = "calibration";
StereoCameraModel model(
@@ -5214,7 +5214,7 @@ void MainWindow::exportImages()
{
UERROR("Only one camera calibration can be saved at this time (%d detected)", (int)data.cameraModels().size());
}
else if(data.cameraModels().size() == 1 && data.cameraModels().front().isValid())
else if(data.cameraModels().size() == 1 && data.cameraModels().front().isValidForProjection())
{
std::string cameraName = "calibration";
CameraModel model(cameraName,
@@ -5313,8 +5313,8 @@ void MainWindow::exportBundlerFormat()
{
UWARN("Missing image in cache for node %d", iter->first);
}
else if((_cachedSignatures[iter->first].sensorData().cameraModels().size() == 1 && _cachedSignatures[iter->first].sensorData().cameraModels().at(0).isValid()) ||
_cachedSignatures[iter->first].sensorData().stereoCameraModel().isValid())
else if((_cachedSignatures[iter->first].sensorData().cameraModels().size() == 1 && _cachedSignatures[iter->first].sensorData().cameraModels().at(0).isValidForProjection()) ||
_cachedSignatures[iter->first].sensorData().stereoCameraModel().isValidForProjection())
{
poses.insert(*iter);
}