| 119 | } |
| 120 | |
| 121 | bool Reconstruction::IsValid() const { |
| 122 | // Check object associations: rig-frame-image-camera references and pointers. |
| 123 | // Check rigs. |
| 124 | for (const auto& [rig_id, rig] : rigs_) { |
| 125 | for (const sensor_t& sensor_id : rig.SensorIds()) { |
| 126 | switch (sensor_id.type) { |
| 127 | case SensorType::CAMERA: |
| 128 | if (!ExistsCamera(sensor_id.id)) { |
| 129 | LOG(WARNING) << "Rig " << rig_id << " has sensor (camera) " |
| 130 | << sensor_id.id << " which does not exist"; |
| 131 | return false; |
| 132 | } |
| 133 | break; |
| 134 | case SensorType::IMU: |
| 135 | case SensorType::INVALID: |
| 136 | // Only camera sensors are currently supported. |
| 137 | break; |
| 138 | } |
| 139 | } |
| 140 | } |
| 141 | // Check frames. |
| 142 | for (const auto& [frame_id, frame] : frames_) { |
| 143 | if (!frame.HasRigId()) { |
| 144 | LOG(WARNING) << "Frame " << frame_id << " has no rig_id"; |
| 145 | return false; |
| 146 | } |
| 147 | if (!ExistsRig(frame.RigId())) { |
| 148 | LOG(WARNING) << "Frame " << frame_id << " references non-existent rig " |
| 149 | << frame.RigId(); |
| 150 | return false; |
| 151 | } |
| 152 | if (!frame.HasRigPtr()) { |
| 153 | LOG(WARNING) << "Frame " << frame_id << " has no rig pointer"; |
| 154 | return false; |
| 155 | } |
| 156 | if (frame.RigPtr() != &rigs_.at(frame.RigId())) { |
| 157 | LOG(WARNING) << "Frame " << frame_id |
| 158 | << " rig pointer does not match rig_id"; |
| 159 | return false; |
| 160 | } |
| 161 | for (const auto& data_id : frame.DataIds()) { |
| 162 | if (!frame.RigPtr()->HasSensor(data_id.sensor_id)) { |
| 163 | LOG(WARNING) << "Frame " << frame_id << " has data with sensor_id " |
| 164 | << data_id.sensor_id.id << " that does not exist in rig " |
| 165 | << frame.RigId(); |
| 166 | return false; |
| 167 | } |
| 168 | switch (data_id.sensor_id.type) { |
| 169 | case SensorType::CAMERA: |
| 170 | if (!ExistsImage(data_id.id)) { |
| 171 | LOG(WARNING) << "Frame " << frame_id << " references image " |
| 172 | << data_id.id << " which does not exist"; |
| 173 | return false; |
| 174 | } |
| 175 | break; |
| 176 | case SensorType::IMU: |
| 177 | case SensorType::INVALID: |
| 178 | // Only camera data is currently supported. |
nothing calls this directly
no test coverage detected