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Fixed #695 (footprint not cleared correctly when GridGlobal/OccupancyThr>0)

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matlabbe
2021-03-05 18:35:49 -05:00
parent 4f46d8e904
commit ab8f0e2b34
4 changed files with 64 additions and 18 deletions
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guilib/src/DatabaseViewer.cpp
+13 -1
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@@ -443,6 +443,8 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
connect(ui_->toolButton_groundColor, SIGNAL(clicked(bool)), this, SLOT(selectGroundColor()));
connect(ui_->toolButton_emptyColor, SIGNAL(clicked(bool)), this, SLOT(selectEmptyColor()));
connect(ui_->spinBox_cropRadius, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_grid_showProbMap, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_grid_showProbMap, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
connect(exportDialog_, SIGNAL(configChanged()), this, SLOT(configModified()));
@@ -555,6 +557,7 @@ void DatabaseViewer::readSettings()
ui_->lineEdit_groundColor->setText(settings.value("colorGround", ui_->lineEdit_groundColor->text()).toString());
ui_->lineEdit_emptyColor->setText(settings.value("colorEmpty", ui_->lineEdit_emptyColor->text()).toString());
ui_->spinBox_cropRadius->setValue(settings.value("cropRadius", ui_->spinBox_cropRadius->value()).toInt());
ui_->checkBox_grid_showProbMap->setChecked(settings.value("probMap", ui_->checkBox_grid_showProbMap->isChecked()).toBool());
settings.endGroup();
settings.beginGroup("mesh");
@@ -640,6 +643,7 @@ void DatabaseViewer::writeSettings()
settings.setValue("colorGround", ui_->lineEdit_groundColor->text());
settings.setValue("colorEmpty", ui_->lineEdit_emptyColor->text());
settings.setValue("cropRadius", ui_->spinBox_cropRadius->value());
settings.setValue("probMap", ui_->checkBox_grid_showProbMap->isChecked());
settings.endGroup();
settings.beginGroup("mesh");
@@ -726,6 +730,7 @@ void DatabaseViewer::restoreDefaultSettings()
ui_->lineEdit_groundColor->setText(QColor(Qt::green).name());
ui_->lineEdit_emptyColor->setText(QColor(Qt::yellow).name());
ui_->spinBox_cropRadius->setValue(1);
ui_->checkBox_grid_showProbMap->setChecked(false);
ui_->checkBox_mesh_quad->setChecked(true);
ui_->spinBox_mesh_angleTolerance->setValue(15);
@@ -6411,7 +6416,14 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
grid.addToCache(iter->first, iter->second.first.first, iter->second.first.second, iter->second.second);
}
grid.update(graphFiltered);
map = grid.getMap(xMin, yMin);
if(ui_->checkBox_grid_showProbMap->isChecked())
{
map = grid.getProbMap(xMin, yMin);
}
else
{
map = grid.getMap(xMin, yMin);
}
}
ui_->label_timeGrid->setNum(double(time.elapsed())/1000.0);