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fixed RVIZ crash when changing map cloud style

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1457 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-07-06 18:25:59 +00:00
parent 1fa95fa358
commit 39cff6d0cb
1 changed files with 272 additions and 270 deletions
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src/rviz/MapCloudDisplay.cpp
+17 -15
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@@ -27,9 +27,9 @@ namespace rtabmap
{ {
MapCloudDisplay::CloudInfo::CloudInfo() MapCloudDisplay::CloudInfo::CloudInfo() :
: manager_(0) manager_(0),
, scene_node_(0) scene_node_(0)
{} {}
MapCloudDisplay::CloudInfo::~CloudInfo() MapCloudDisplay::CloudInfo::~CloudInfo()
@@ -324,7 +324,8 @@ void MapCloudDisplay::updateTransformers( const sensor_msgs::PointCloud2ConstPtr
if (has_rgb_transformer) if (has_rgb_transformer)
{ {
color_transformer_property_->setStringStd( "RGB8" ); color_transformer_property_->setStringStd( "RGB8" );
} else }
else
{ {
color_transformer_property_->setStringStd( valid_color.rbegin()->second ); color_transformer_property_->setStringStd( valid_color.rbegin()->second );
} }
@@ -334,9 +335,9 @@ void MapCloudDisplay::updateTransformers( const sensor_msgs::PointCloud2ConstPtr
void MapCloudDisplay::updateAlpha() void MapCloudDisplay::updateAlpha()
{ {
for ( unsigned i=0; i<cloud_infos_.size(); i++ ) for( std::map<int, CloudInfoPtr>::iterator it = cloud_infos_.begin(); it != cloud_infos_.end(); ++it )
{ {
cloud_infos_[i]->cloud_->setAlpha( alpha_property_->getFloat() ); it->second->cloud_->setAlpha( alpha_property_->getFloat() );
} }
} }
@@ -353,9 +354,9 @@ void MapCloudDisplay::updateStyle()
point_world_size_property_->show(); point_world_size_property_->show();
point_pixel_size_property_->hide(); point_pixel_size_property_->hide();
} }
for( unsigned int i = 0; i < cloud_infos_.size(); i++ ) for( std::map<int, CloudInfoPtr>::iterator it = cloud_infos_.begin(); it != cloud_infos_.end(); ++it )
{ {
cloud_infos_[i]->cloud_->setRenderMode( mode ); it->second->cloud_->setRenderMode( mode );
} }
updateBillboardSize(); updateBillboardSize();
} }
@@ -364,14 +365,17 @@ void MapCloudDisplay::updateBillboardSize()
{ {
rviz::PointCloud::RenderMode mode = (rviz::PointCloud::RenderMode) style_property_->getOptionInt(); rviz::PointCloud::RenderMode mode = (rviz::PointCloud::RenderMode) style_property_->getOptionInt();
float size; float size;
if( mode == rviz::PointCloud::RM_POINTS ) { if( mode == rviz::PointCloud::RM_POINTS )
{
size = point_pixel_size_property_->getFloat(); size = point_pixel_size_property_->getFloat();
} else { }
else
{
size = point_world_size_property_->getFloat(); size = point_world_size_property_->getFloat();
} }
for ( unsigned i=0; i<cloud_infos_.size(); i++ ) for( std::map<int, CloudInfoPtr>::iterator it = cloud_infos_.begin(); it != cloud_infos_.end(); ++it )
{ {
cloud_infos_[i]->cloud_->setDimensions( size, size, size ); it->second->cloud_->setDimensions( size, size, size );
} }
context_->queueRender(); context_->queueRender();
} }
@@ -612,9 +616,7 @@ void MapCloudDisplay::retransform()
{ {
boost::recursive_mutex::scoped_lock lock(transformers_mutex_); boost::recursive_mutex::scoped_lock lock(transformers_mutex_);
std::map<int, CloudInfoPtr>::iterator it = cloud_infos_.begin(); for( std::map<int, CloudInfoPtr>::iterator it = cloud_infos_.begin(); it != cloud_infos_.end(); ++it )
std::map<int, CloudInfoPtr>::iterator end = cloud_infos_.end();
for (; it != end; ++it)
{ {
const CloudInfoPtr& cloud_info = it->second; const CloudInfoPtr& cloud_info = it->second;
transformCloud(cloud_info, false); transformCloud(cloud_info, false);