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DbViewer: fixed reversed "Generate laser scan from depth" option

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matlabbe
2016-01-10 12:57:49 -05:00
parent 75f85f6b2a
commit 182fe5f1d2
3 changed files with 19 additions and 10 deletions
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8
guilib/src/DatabaseViewer.cpp
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@@ -3582,7 +3582,7 @@ void DatabaseViewer::refineConstraint(int from, int to, bool silent, bool update
ParametersMap parameters = ui_->parameters_toolbox->getParameters();
UTimer timer;
if(!ui_->checkBox_icp_laserScan->isChecked())
if(ui_->checkBox_icp_laserScan->isChecked())
{
// generate laser scans from depth image
cv::Mat tmpA, tmpB, tmpC, tmpD;
@@ -3599,6 +3599,12 @@ void DatabaseViewer::refineConstraint(int from, int to, bool silent, bool update
int maxLaserScans = cloudFrom->size();
dataFrom.setLaserScanRaw(util3d::laserScanFromPointCloud(*util3d::removeNaNFromPointCloud(cloudFrom), Transform()), maxLaserScans, 0);
dataTo.setLaserScanRaw(util3d::laserScanFromPointCloud(*util3d::removeNaNFromPointCloud(cloudTo), Transform()), maxLaserScans, 0);
if(!dataFrom.laserScanCompressed().empty() || !dataTo.laserScanCompressed().empty())
{
UWARN("There are laser scans in data, but generate laser scan from "
"depth image option is activated. Ignoring saved laser scans...");
}
}
else
{