IsValid() for pinhole camera seems wrong

[JunzheJosephZhu]

Hi,
This is the implementation of euclidean keypoint checking for pinhole camera.

bool PinholeProjection<DISTORTION_T>::isValid(
    const Eigen::MatrixBase<DERIVED_K> & keypoint) const {
  return keypoint[0] >= 0 && keypoint[1] >= 0 && keypoint[0] < (double) _ru
      && keypoint[1] < (double) _rv;

}

This invalidates all points to the left of the principal point.
This is strange, since the principal point is usually at the center of image.
Can someone confirm this please?

[JunzheJosephZhu]

oh nvm, this is for image-space keypoints