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CloudViewer: using QWidget::update() call instead of render directly the window

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This commit is contained in:
Mathieu Labbe
2015-01-30 17:02:02 -05:00
parent a2dde36093
commit d97ae60e6c
8 changed files with 33 additions and 64 deletions
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34
corelib/src/util3d.cpp
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@@ -2315,7 +2315,7 @@ cv::Mat create2DMap(const std::map<int, Transform> & poses,
UDEBUG("map min=(%f, %f) max=(%f,%f)", xMin, yMin, xMax, yMax);
//UTimer timer;
UTimer timer;
map = cv::Mat::ones((yMax - yMin) / cellSize + 0.5f, (xMax - xMin) / cellSize + 0.5f, CV_8S)*-1;
std::vector<float> maxSquaredLength(localScans.size(), 0.0f);
@@ -2343,7 +2343,7 @@ cv::Mat create2DMap(const std::map<int, Transform> & poses,
}
++j;
}
//UWARN("timer=%fs", timer.ticks());
UDEBUG("Ray trace known space=%fs", timer.ticks());
// now fill unknown spaces
if(unknownSpaceFilled)
@@ -2407,8 +2407,8 @@ cv::Mat create2DMap(const std::map<int, Transform> & poses,
}
}
++j;
//UWARN("timer=%fs", timer.ticks());
}
UDEBUG("Fill empty space=%fs", timer.ticks());
}
}
return map;
@@ -2446,26 +2446,18 @@ void rayTrace(const cv::Point2i & start, const cv::Point2i & end, cv::Mat & grid
//ROS_WARN("lowerbound=%f upperbound=%f", lowerbound, upperbound);
UASSERT_MSG(lowerbound >= 0 && lowerbound < grid.rows, uFormat("lowerbound=%f grid.rows=%d x=%d slope=%f b=%f x=%f", lowerbound, grid.rows, x, slope, b, x).c_str());
UASSERT_MSG(upperbound >= 0 && upperbound < grid.rows, uFormat("upperbound=%f grid.rows=%d x+1=%d slope=%f b=%f x=%f", upperbound, grid.rows, x+1, slope, b, x).c_str());
// verify if there is no obstacle
bool stopped = false;
if(stopOnObstacle)
{
for(int y = lowerbound; y<=(int)upperbound; ++y)
{
if(grid.at<char>(y, x) == 100)
{
stopped = true;
break;
}
}
}
if(stopped)
{
break;
}
for(int y = lowerbound; y<=(int)upperbound; ++y)
{
grid.at<char>(y, x) = 0; // free space
char & v = grid.at<char>(y, x);
if(v == 100 && stopOnObstacle)
{
return;
}
else
{
v = 0; // free space
}
}
}
}