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Fixed FLOAM not working when local transform is not Identity. DBViewer: warn user when scan from dpeth is checked and there are no depth images in db.

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This commit is contained in:
matlabbe
2021-09-30 09:53:50 -04:00
parent 533d78d570
commit 77d947d4fb
2 changed files with 22 additions and 5 deletions
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21
guilib/src/DatabaseViewer.cpp
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@@ -7599,10 +7599,27 @@ void DatabaseViewer::refineConstraint(int from, int to, bool silent)
ui_->parameters_toolbox->getParameters());
int maxLaserScans = cloudFrom->size();
fromS->sensorData().setLaserScan(LaserScan(util3d::laserScanFromPointCloud(*util3d::removeNaNFromPointCloud(cloudFrom), Transform()), maxLaserScans, 0));
toS->sensorData().setLaserScan(LaserScan(util3d::laserScanFromPointCloud(*util3d::removeNaNFromPointCloud(cloudTo), Transform()), maxLaserScans, 0));
toS->sensorData().setLaserScan(LaserScan(util3d::laserScanFromPointCloud(*util3d::removeNaNFromPointCloud(cloudTo), Transform()), maxLaserScans, 0));
if(!fromS->sensorData().laserScanCompressed().isEmpty() && !toS->sensorData().laserScanCompressed().isEmpty())
{
{
UWARN("There are laser scans in data, but generate laser scan from "
"depth image option is activated (GUI Parameters->Refine). "
"Ignoring saved laser scans...");
}
else
{
QString msg = tr("Generating laser scan from depth image is checked "
"(GUI Parameters->Refine), but selected nodes don't contain "
"depth data. Empty laser scans are generated, so transform "
"estimation will likely fail. Uncheck to use laser scans instead "
"(if there are some).");
if(!silent)
{
QMessageBox::warning(this,
tr("Refine a link"),
msg);
}
UWARN(msg.toStdString().c_str());
}