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Graph viewer optimizations (#1616)

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* DbViewer: coloring graph based on env sensor value (e.g., wifi signal strength)

* GraphViewer optimizations

* Fixed link memory allocation

* refactor

* more optimizations

* mainwindow keypoints optimization

* MainWindow optimizations

* Shrink graphics scene on clearAll
This commit is contained in:
matlabbe
2025-11-16 18:56:55 -08:00
committed by GitHub
parent 82fb7ff5d2
commit e75baec73e
5 changed files with 579 additions and 490 deletions
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15
corelib/src/GlobalMap.cpp
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@@ -139,14 +139,25 @@ bool GlobalMap::update(const std::map<int, Transform> & poses)
std::list<std::pair<int, Transform> > orderedPoses;
// add old poses that were not in the current map (they were just retrieved from LTM)
int nodesNotAssembled = 0;
int nodesNotInCache = 0;
for(std::map<int, Transform>::const_iterator iter=poses.lower_bound(1); iter!=poses.end(); ++iter)
{
if(!isNodeAssembled(iter->first))
{
UDEBUG("Pose %d not found in current added poses, it will be added to map", iter->first);
orderedPoses.push_back(*iter);
if(uContains(cache(), iter->first))
{
++nodesNotAssembled;
//UDEBUG("Pose %d not found in current added poses, it will be added to map", iter->first);
orderedPoses.push_back(*iter);
}
else
{
++nodesNotInCache;
}
}
}
UDEBUG("%d nodes will be assembled in the map and %d nodes won't (no local grids in cache for them)", nodesNotAssembled, nodesNotInCache);
// insert zero after
if(poses.find(0) != poses.end())