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DbViewer: don't show landmark links for ignored ndoes (w=-9), auto-zoom grid map if there are a lot of unknowns. Updated Docker nvidia files to include default Documents/RTAB-Map directory.

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This commit is contained in:
matlabbe
2021-11-04 13:00:08 -04:00
parent 7c5acd8970
commit 20bc281db7
4 changed files with 88 additions and 2 deletions
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75
guilib/src/DatabaseViewer.cpp
View File

@@ -1831,7 +1831,8 @@ void DatabaseViewer::updateIds()
ids.find(jter->second.from()) != ids.end() &&
(ids.find(jter->second.to()) != ids.end() || jter->second.to()<0) && // to add landmark links
graph::findLink(links_, jter->second.from(), jter->second.to()) == links_.end() &&
invertedLinkIter != links.end())
invertedLinkIter != links.end() &&
w != -9)
{
// check if user_data is set in opposite direction
if(jter->second.userDataCompressed().cols == 0 &&
@@ -6608,6 +6609,7 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
if(!allNodesAreInWM)
{
ui_->graphViewer->updatePosterior(colors, 1, 1);
}
}
QGraphicsRectItem * rectScaleItem = 0;
ui_->graphViewer->clearMap();
@@ -6693,6 +6695,70 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
if(ui_->dockWidget_occupancyGridView->isVisible() && ui_->checkBox_grid_2d->isChecked())
{
occupancyGridViewer_->addOccupancyGridMap(map8U, cellSize, xMin, yMin, 1.0f);
occupancyGridViewer_->refreshView();
}
// Zoom to ignore unknowns
int xFirst = 0;
int yFirst = 0;
int xLast = map.cols;
int yLast = map.rows;
bool firstSet = false;
bool lastSet = false;
for(int x=0; x<map.cols && (!firstSet || !lastSet); ++x)
{
for(int y=0; y<map.rows; ++y)
{
// check for first
if(!firstSet && map.at<char>(y, x) != -1)
{
xFirst = x;
firstSet = true;
}
// check for last
int opp = map.cols-(x+1);
if(!lastSet && map.at<char>(y, opp) != -1)
{
xLast = opp;
lastSet = true;
}
}
}
firstSet = false;
lastSet = false;
for(int y=0; y<map.rows && (!firstSet || !lastSet); ++y)
{
for(int x=0; x<map.cols; ++x)
{
// check for first
if(!firstSet && map.at<char>(y, x) != -1)
{
yFirst = y;
firstSet = true;
}
// check for last
int opp = map.rows-(y+1);
if(!lastSet && map.at<char>(map.rows-(y+1), x) != -1)
{
yLast = opp;
lastSet = true;
}
}
}
// Only zoom if there are significant unknowns
if( (xLast > xFirst && yLast > yFirst) &&
(xFirst > 50 ||
xLast < map.cols-50 ||
yFirst > 50 ||
yLast < map.rows-50))
{
rectScaleItem = ui_->graphViewer->scene()->addRect(
xFirst-25,
yFirst-25,
xLast-xFirst+50,
yLast-yFirst+50);
rectScaleItem->setTransform(QTransform::fromScale(cellSize*100.0f, -cellSize*100.0f), true);
rectScaleItem->setRotation(90);
rectScaleItem->setPos(-yMin*100.0f, -xMin*100.0f);
}
}
@@ -6819,6 +6885,13 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
occupancyGridViewer_->refreshView();
}
}
}
ui_->graphViewer->fitInView(ui_->graphViewer->scene()->itemsBoundingRect(), Qt::KeepAspectRatio);
if(rectScaleItem != 0)
{
ui_->graphViewer->fitInView(rectScaleItem, Qt::KeepAspectRatio);
ui_->graphViewer->scene()->removeItem(rectScaleItem);
delete rectScaleItem;
}
ui_->graphViewer->update();

3
guilib/src/GraphViewer.cpp
View File

@@ -983,7 +983,8 @@ void GraphViewer::updateMap(const cv::Mat & map8U, float resolution, float xMin,
_gridMap->setRotation(90);
_gridMap->setPixmap(QPixmap::fromImage(image));
_gridMap->setPos(-yMin*100.0f, -xMin*100.0f);
this->scene()->setSceneRect(this->scene()->itemsBoundingRect()); // Re-shrink the scene to it's bounding contents
// Re-shrink the scene to it's bounding contents
this->scene()->setSceneRect(this->scene()->itemsBoundingRect());
}
else
{