Improve raw value interpretation

src/app_impl/load_delete.rs

@@ -108,8 +108,9 @@ impl AppState {
     }
 
     pub(crate) fn add_map(&mut self, name: &String, meta: Meta, image_pyramid: Arc<ImagePyramid>) {
-        let use_interpretation = meta.value_interpretation.mode != value_interpretation::Mode::Raw;
+        let use_interpretation = meta.value_interpretation.explicit_mode;
         if use_interpretation {
+            // This map has an explicitly specified value interpretation.
             // We need to set this to not loose the values in the next frame.
             self.options.tint_settings.active_tint_selection = Some(name.clone());
         }

src/texture_state.rs

@@ -30,12 +30,14 @@ impl TextureState {
         }
     }
 
-    pub fn update(&mut self, ui: &egui::Ui, request: &TextureRequest) {
-        let changed = self.desired_size != request.desired_rect.size()
+    fn changed(&self, request: &TextureRequest) -> bool {
+        self.desired_size != request.desired_rect.size()
             || self.desired_color_to_alpha != request.color_to_alpha
-            || self.desired_thresholding != request.thresholding;
+            || self.desired_thresholding != request.thresholding
+    }
 
-        if changed {
+    pub fn update(&mut self, ui: &egui::Ui, request: &TextureRequest) {
+        if self.changed(request) {
             // Free the old texture if the size changed.
             self.texture_handle = None;
         }
@@ -78,14 +80,17 @@ impl TextureState {
         }
     }
 
+    fn changed_crop(&self, request: &RotatedCropRequest) -> bool {
+        if self.changed(&request.uncropped) {
+            return true;
+        }
+        return self.desired_uv != request.uv;
+    }
+
     pub fn update_crop(&mut self, ui: &mut egui::Ui, request: &RotatedCropRequest) {
         let desired_size = request.uncropped.desired_rect.size();
 
-        let mut unchanged = self.desired_size == desired_size && self.desired_uv == request.uv;
-        unchanged &= request.uncropped.color_to_alpha == self.desired_color_to_alpha;
-        unchanged &= self.desired_thresholding.unwrap_or_default()
-            == request.uncropped.thresholding.unwrap_or_default();
-        if unchanged {
+        if !self.changed_crop(request) {
             return;
         }
         self.desired_size = desired_size;

src/value_interpretation.rs

@@ -25,9 +25,9 @@ use crate::value_colormap::ColorMap;
 #[serde(rename_all = "lowercase")]
 pub enum Mode {
     /// Raw mode: no interpretation.
-    #[default]
     Raw,
     /// Trinary mode: values are thresholded into free, occupied, unknown.
+    #[default]
     Trinary,
     /// Scale mode: values are scaled into a continuous range between free and occupied.
     Scale,
@@ -54,6 +54,8 @@ pub struct ValueInterpretation {
     pub occupied: f32,
     pub negate: bool,
     pub mode: Mode,
+    #[serde(default)]
+    pub explicit_mode: bool,
     pub quirks: Quirks,
     #[serde(default)]
     pub colormap: ColorMap,
@@ -66,6 +68,7 @@ impl Default for ValueInterpretation {
             occupied: MAP_SERVER_OCCUPIED_DEFAULT,
             negate: false,
             mode: Mode::default(),
+            explicit_mode: false,
             quirks: Quirks::default(),
             colormap: ColorMap::default(),
         }
@@ -79,6 +82,7 @@ impl ValueInterpretation {
             occupied,
             negate,
             mode: mode.unwrap_or_default(),
+            explicit_mode: mode.is_some(),
             quirks: Quirks::default(),
             colormap: ColorMap::default(),
         }
@@ -113,8 +117,11 @@ impl ValueInterpretation {
     pub fn apply(&self, img: &mut DynamicImage, original_has_alpha: bool) {
         match self.mode {
             Mode::Raw => {
-                map_colors_mut(img, |c| {
+                map_colors_mut(img, |mut c| {
                     // Only colormap without interpretation in raw mode.
+                    if self.negate {
+                        c[0] = 255 - c[0];
+                    }
                     self.colormap.get().map(c[0])
                 });
             }

tests/sessions/value_interpretations_map_server.toml

@@ -21,13 +21,15 @@ free = 0.19599999487400055
 occupied = 0.6499999761581421
 negate = false
 mode = "raw"
+explicit_mode = true
 quirks = "Ros1MapServer"
 
 [maps."tests/maps/dummy_map_raw.yaml".meta.original_value_interpretation]
 free = 0.19599999487400055
 occupied = 0.6499999761581421
 negate = false
 mode = "raw"
+explicit_mode = true
 quirks = "Ros1MapServer"
 
 [maps."tests/maps/dummy_map_raw.yaml".pose]
@@ -67,13 +69,15 @@ free = 0.19599999487400055
 occupied = 0.6499999761581421
 negate = true
 mode = "raw"
+explicit_mode = true
 quirks = "Ros1MapServer"
 
 [maps."tests/maps/dummy_map_raw_negate.yaml".meta.original_value_interpretation]
 free = 0.19599999487400055
 occupied = 0.6499999761581421
 negate = true
 mode = "raw"
+explicit_mode = true
 quirks = "Ros1MapServer"
 
 [maps."tests/maps/dummy_map_raw_negate.yaml".pose]
@@ -113,13 +117,15 @@ free = 0.19599999487400055
 occupied = 0.6499999761581421
 negate = false
 mode = "scale"
+explicit_mode = true
 quirks = "Ros1MapServer"
 
 [maps."tests/maps/dummy_map_scale.yaml".meta.original_value_interpretation]
 free = 0.19599999487400055
 occupied = 0.6499999761581421
 negate = false
 mode = "scale"
+explicit_mode = true
 quirks = "Ros1MapServer"
 
 [maps."tests/maps/dummy_map_scale.yaml".pose]
@@ -159,13 +165,15 @@ free = 0.19599999487400055
 occupied = 0.6499999761581421
 negate = true
 mode = "scale"
+explicit_mode = true
 quirks = "Ros1MapServer"
 
 [maps."tests/maps/dummy_map_scale_negate.yaml".meta.original_value_interpretation]
 free = 0.19599999487400055
 occupied = 0.6499999761581421
 negate = true
 mode = "scale"
+explicit_mode = true
 quirks = "Ros1MapServer"
 
 [maps."tests/maps/dummy_map_scale_negate.yaml".pose]
@@ -205,13 +213,15 @@ free = 0.19599999487400055
 occupied = 0.6499999761581421
 negate = false
 mode = "trinary"
+explicit_mode = true
 quirks = "Ros1MapServer"
 
 [maps."tests/maps/dummy_map_trinary.yaml".meta.original_value_interpretation]
 free = 0.19599999487400055
 occupied = 0.6499999761581421
 negate = false
 mode = "trinary"
+explicit_mode = true
 quirks = "Ros1MapServer"
 
 [maps."tests/maps/dummy_map_trinary.yaml".pose]
@@ -251,13 +261,15 @@ free = 0.19599999487400055
 occupied = 0.6499999761581421
 negate = true
 mode = "trinary"
+explicit_mode = true
 quirks = "Ros1MapServer"
 
 [maps."tests/maps/dummy_map_trinary_negate.yaml".meta.original_value_interpretation]
 free = 0.19599999487400055
 occupied = 0.6499999761581421
 negate = true
 mode = "trinary"
+explicit_mode = true
 quirks = "Ros1MapServer"
 
 [maps."tests/maps/dummy_map_trinary_negate.yaml".pose]

tests/sessions/value_interpretations_ros1_wiki.toml

@@ -21,13 +21,15 @@ free = 0.19599999487400055
 occupied = 0.6499999761581421
 negate = false
 mode = "raw"
+explicit_mode = true
 quirks = "Ros1Wiki"
 
 [maps."tests/maps/dummy_map_raw.yaml".meta.original_value_interpretation]
 free = 0.19599999487400055
 occupied = 0.6499999761581421
 negate = false
 mode = "raw"
+explicit_mode = true
 quirks = "Ros1Wiki"
 
 [maps."tests/maps/dummy_map_raw.yaml".pose]
@@ -67,13 +69,15 @@ free = 0.19599999487400055
 occupied = 0.6499999761581421
 negate = true
 mode = "raw"
+explicit_mode = true
 quirks = "Ros1Wiki"
 
 [maps."tests/maps/dummy_map_raw_negate.yaml".meta.original_value_interpretation]
 free = 0.19599999487400055
 occupied = 0.6499999761581421
 negate = true
 mode = "raw"
+explicit_mode = true
 quirks = "Ros1Wiki"
 
 [maps."tests/maps/dummy_map_raw_negate.yaml".pose]
@@ -113,13 +117,15 @@ free = 0.19599999487400055
 occupied = 0.6499999761581421
 negate = false
 mode = "scale"
+explicit_mode = true
 quirks = "Ros1Wiki"
 
 [maps."tests/maps/dummy_map_scale.yaml".meta.original_value_interpretation]
 free = 0.19599999487400055
 occupied = 0.6499999761581421
 negate = false
 mode = "scale"
+explicit_mode = true
 quirks = "Ros1Wiki"
 
 [maps."tests/maps/dummy_map_scale.yaml".pose]
@@ -159,13 +165,15 @@ free = 0.19599999487400055
 occupied = 0.6499999761581421
 negate = true
 mode = "scale"
+explicit_mode = true
 quirks = "Ros1Wiki"
 
 [maps."tests/maps/dummy_map_scale_negate.yaml".meta.original_value_interpretation]
 free = 0.19599999487400055
 occupied = 0.6499999761581421
 negate = true
 mode = "scale"
+explicit_mode = true
 quirks = "Ros1Wiki"
 
 [maps."tests/maps/dummy_map_scale_negate.yaml".pose]
@@ -205,13 +213,15 @@ free = 0.19599999487400055
 occupied = 0.6499999761581421
 negate = false
 mode = "trinary"
+explicit_mode = true
 quirks = "Ros1Wiki"
 
 [maps."tests/maps/dummy_map_trinary.yaml".meta.original_value_interpretation]
 free = 0.19599999487400055
 occupied = 0.6499999761581421
 negate = false
 mode = "trinary"
+explicit_mode = true
 quirks = "Ros1Wiki"
 
 [maps."tests/maps/dummy_map_trinary.yaml".pose]
@@ -251,13 +261,15 @@ free = 0.19599999487400055
 occupied = 0.6499999761581421
 negate = true
 mode = "trinary"
+explicit_mode = true
 quirks = "Ros1Wiki"
 
 [maps."tests/maps/dummy_map_trinary_negate.yaml".meta.original_value_interpretation]
 free = 0.19599999487400055
 occupied = 0.6499999761581421
 negate = true
 mode = "trinary"
+explicit_mode = true
 quirks = "Ros1Wiki"
 
 [maps."tests/maps/dummy_map_trinary_negate.yaml".pose]