From fa8a4ebd71120d6069a90fc8cec14769ae7e885d Mon Sep 17 00:00:00 2001
From: Victor Reijgwart <victorreijgwart@gmail.com>
Date: Thu, 12 Dec 2024 18:30:47 +0100
Subject: [PATCH] Make sure cell sizes are updated when map min cell width
 changes

---
 .../ros1/wavemap_rviz_plugin/src/visuals/slice_visual.cc  | 6 +++---
 .../ros1/wavemap_rviz_plugin/src/visuals/voxel_visual.cc  | 8 ++++----
 2 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/interfaces/ros1/wavemap_rviz_plugin/src/visuals/slice_visual.cc b/interfaces/ros1/wavemap_rviz_plugin/src/visuals/slice_visual.cc
index b21154f13..fdb2fb4db 100644
--- a/interfaces/ros1/wavemap_rviz_plugin/src/visuals/slice_visual.cc
+++ b/interfaces/ros1/wavemap_rviz_plugin/src/visuals/slice_visual.cc
@@ -144,17 +144,17 @@ void SliceVisual::update() {
     // Allocate the pointcloud representing this grid level if needed
     if (static_cast<int>(grid_levels_.size()) <= height) {
       const Ogre::String name = "multi_res_slice_" + std::to_string(height);
-      const FloatingPoint cell_width =
-          convert::heightToCellWidth(min_cell_width, height);
       auto& grid_level = grid_levels_.emplace_back(
           std::make_unique<CellLayer>(slice_cell_material_));
       grid_level->setName(name);
-      grid_level->setCellDimensions(cell_width, cell_width, 0.0);
       grid_level->setAlpha(alpha);
       frame_node_->attachObject(grid_level.get());
     }
     // Update the points
     auto& grid_level = grid_levels_[height];
+    const FloatingPoint cell_width =
+        convert::heightToCellWidth(min_cell_width, height);
+    grid_level->setCellDimensions(cell_width, cell_width, 0.0);
     grid_level->clear();
     const auto& cells_at_level = cells_per_level[height];
     grid_level->setCells(cells_at_level);
diff --git a/interfaces/ros1/wavemap_rviz_plugin/src/visuals/voxel_visual.cc b/interfaces/ros1/wavemap_rviz_plugin/src/visuals/voxel_visual.cc
index 1b7fe412c..d093f0d7d 100644
--- a/interfaces/ros1/wavemap_rviz_plugin/src/visuals/voxel_visual.cc
+++ b/interfaces/ros1/wavemap_rviz_plugin/src/visuals/voxel_visual.cc
@@ -383,18 +383,18 @@ void VoxelVisual::drawMultiResolutionVoxels(IndexElement tree_height,
     // Allocate the pointcloud representing this voxel grid level if needed
     if (voxel_layer_visuals.size() <= depth) {
       const Ogre::String name = prefix + std::to_string(depth);
-      const IndexElement height = tree_height - static_cast<int>(depth);
-      const FloatingPoint cell_width =
-          convert::heightToCellWidth(min_cell_width, height);
       auto& voxel_layer = voxel_layer_visuals.emplace_back(
           std::make_unique<CellLayer>(voxel_material_));
       voxel_layer->setName(name);
-      voxel_layer->setCellDimensions(cell_width, cell_width, cell_width);
       voxel_layer->setAlpha(alpha);
       frame_node_->attachObject(voxel_layer.get());
     }
     // Update the cells
     auto& voxel_layer = voxel_layer_visuals[depth];
+    const IndexElement height = tree_height - static_cast<int>(depth);
+    const FloatingPoint cell_width =
+        convert::heightToCellWidth(min_cell_width, height);
+    voxel_layer->setCellDimensions(cell_width, cell_width, cell_width);
     const auto& cells_at_level = voxels_per_level[depth];
     voxel_layer->setCells(cells_at_level);
   }