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Fixed cloud -1 not found on export, fixed cloud visibility doing nothing to cloud -1

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This commit is contained in:
matlabbe
2017-04-18 23:08:28 -04:00
parent 220a454859
commit 5814724600
2 changed files with 31 additions and 34 deletions
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63
guilib/src/MainWindow.cpp
View File

@@ -3198,45 +3198,44 @@ Transform MainWindow::alignPosesToGroundTruth(
void MainWindow::updateNodeVisibility(int nodeId, bool visible)
{
if(_currentPosesMap.find(nodeId) != _currentPosesMap.end())
UINFO("Update visibility %d", nodeId);
QMap<std::string, Transform> viewerClouds = _cloudViewer->getAddedClouds();
if(_preferencesDialog->isCloudsShown(0))
{
QMap<std::string, Transform> viewerClouds = _cloudViewer->getAddedClouds();
if(_preferencesDialog->isCloudsShown(0))
std::string cloudName = uFormat("cloud%d", nodeId);
if(visible && !viewerClouds.contains(cloudName) && _cachedSignatures.contains(nodeId) && _currentPosesMap.find(nodeId) != _currentPosesMap.end())
{
std::string cloudName = uFormat("cloud%d", nodeId);
if(visible && !viewerClouds.contains(cloudName) && _cachedSignatures.contains(nodeId))
{
createAndAddCloudToMap(nodeId, _currentPosesMap.find(nodeId)->second, uValue(_currentMapIds, nodeId, -1));
}
else if(viewerClouds.contains(cloudName))
{
if(visible)
{
//make sure the transformation was done
_cloudViewer->updateCloudPose(cloudName, _currentPosesMap.find(nodeId)->second);
}
_cloudViewer->setCloudVisibility(cloudName, visible);
}
createAndAddCloudToMap(nodeId, _currentPosesMap.find(nodeId)->second, uValue(_currentMapIds, nodeId, -1));
}
if(_preferencesDialog->isScansShown(0))
else if(viewerClouds.contains(cloudName))
{
std::string scanName = uFormat("scan%d", nodeId);
if(visible && !viewerClouds.contains(scanName) && _cachedSignatures.contains(nodeId))
if(visible && _currentPosesMap.find(nodeId) != _currentPosesMap.end())
{
createAndAddScanToMap(nodeId, _currentPosesMap.find(nodeId)->second, uValue(_currentMapIds, nodeId, -1));
}
else if(viewerClouds.contains(scanName))
{
if(visible)
{
//make sure the transformation was done
_cloudViewer->updateCloudPose(scanName, _currentPosesMap.find(nodeId)->second);
}
_cloudViewer->setCloudVisibility(scanName, visible);
//make sure the transformation was done
_cloudViewer->updateCloudPose(cloudName, _currentPosesMap.find(nodeId)->second);
}
_cloudViewer->setCloudVisibility(cloudName, visible);
}
}
if(_preferencesDialog->isScansShown(0))
{
std::string scanName = uFormat("scan%d", nodeId);
if(visible && !viewerClouds.contains(scanName) && _cachedSignatures.contains(nodeId) && _currentPosesMap.find(nodeId) != _currentPosesMap.end())
{
createAndAddScanToMap(nodeId, _currentPosesMap.find(nodeId)->second, uValue(_currentMapIds, nodeId, -1));
}
else if(viewerClouds.contains(scanName))
{
if(visible && _currentPosesMap.find(nodeId) != _currentPosesMap.end())
{
//make sure the transformation was done
_cloudViewer->updateCloudPose(scanName, _currentPosesMap.find(nodeId)->second);
}
_cloudViewer->setCloudVisibility(scanName, visible);
}
}
_cloudViewer->update();
}
@@ -5909,8 +5908,6 @@ void MainWindow::exportGridMap()
return;
}
std::map<int, Transform> poses = _ui->widget_mapVisibility->getVisiblePoses();
// create the map
float xMin=0.0f, yMin=0.0f;
cv::Mat pixels;

2
guilib/src/MapVisibilityWidget.cpp
View File

@@ -115,7 +115,7 @@ std::map<int, Transform> MapVisibilityWidget::getVisiblePoses() const
std::map<int, Transform> poses;
for(std::map<int, Transform>::const_iterator iter=_poses.begin(); iter!=_poses.end(); ++iter)
{
if(_mask.at(iter->first))
if(_mask.at(iter->first) && iter->first > 0)
{
poses.insert(*iter);
}