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