Fix flipped range images in rawlogviewer

MRPT · Dec 5, 2023 · 23ed5e4 · 23ed5e4
1 parent f2b39bd
commit 23ed5e4
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Showing 2 changed files with 9 additions and 5 deletions.
diff --git a/apps/RawLogViewer/main_show_selected_object.cpp b/apps/RawLogViewer/main_show_selected_object.cpp
@@ -514,7 +514,7 @@ void xRawLogViewerFrame::SelectObjectInTreeView(
 			img_range.setFromMatrix(
 				obs->rangeImage.asEigen().cast<float>() *
 					(1.0f / maxActualRange),
-				true /*already in [0,1]*/);
+				true /*already in [0,1]*/, true /*flip_vertical*/);
 
 			showImageInGLView(*bmp3Dobs_depth, img_range);
 
@@ -535,7 +535,7 @@ void xRawLogViewerFrame::SelectObjectInTreeView(
 			img_intensity.setFromMatrix(
 				obs->intensityImage.asEigen().cast<float>() *
 					(1.0f / maxActualInt),
-				true /*already in [0,1]*/);
+				true /*already in [0,1]*/, true /*flip_vertical*/);
 
 			showImageInGLView(*bmp3Dobs_int, img_intensity);
 

diff --git a/libs/img/include/mrpt/img/CImage.h b/libs/img/include/mrpt/img/CImage.h
@@ -830,7 +830,9 @@ class CImage : public mrpt::serialization::CSerializable, public CCanvas
 	 * \sa getAsMatrix
 	 */
 	template <typename MAT>
-	void setFromMatrix(const MAT& m, bool matrix_is_normalized = true)
+	void setFromMatrix(
+		const MAT& m, bool matrix_is_normalized = true,
+		bool flip_vertically = false)
 	{
 		MRPT_START
 		const unsigned int lx = m.cols();
@@ -840,7 +842,8 @@ class CImage : public mrpt::serialization::CSerializable, public CCanvas
 		{  // Matrix: [0,1]
 			for (unsigned int y = 0; y < ly; y++)
 			{
-				auto* pixels = ptrLine<uint8_t>(y);
+				auto* pixels =
+					ptrLine<uint8_t>(flip_vertically ? (ly - 1 - y) : y);
 				for (unsigned int x = 0; x < lx; x++)
 					(*pixels++) = static_cast<uint8_t>(m.coeff(y, x) * 255);
 			}
@@ -849,7 +852,8 @@ class CImage : public mrpt::serialization::CSerializable, public CCanvas
 		{  // Matrix: [0,255]
 			for (unsigned int y = 0; y < ly; y++)
 			{
-				auto* pixels = ptrLine<uint8_t>(y);
+				auto* pixels =
+					ptrLine<uint8_t>(flip_vertically ? (ly - 1 - y) : y);
 				for (unsigned int x = 0; x < lx; x++)
 					(*pixels++) = static_cast<uint8_t>(m.coeff(y, x));
 			}