fix map origin bug on mapping

mainwindow/include/display/display_occ_map.h

@@ -34,6 +34,7 @@ class DisplayOccMap : public VirtualDisplay {
   Eigen::Vector3f sub_map_center_pose_;
   double sub_map_value_ = 1;
   bool is_draw_line_ = false;
+  bool init_flag_{false};
   QPointF line_start_pose_;
   QImage line_tmp_image_;  // 用于存储绘制线条的图像，以便在绘制完成后进行处理
  private:

mainwindow/include/display/manager/display_manager.h

@@ -103,7 +103,6 @@ class DisplayManager : public QObject {
   void SetFocusOn(const std::string &display_type) {
     focus_display_ = display_type;
   }
-  void FocusOnMapCenter();
 };
 
 }  // namespace Display

mainwindow/src/display/display_occ_map.cpp

@@ -70,13 +70,12 @@ void DisplayOccMap::ParseOccupyMap() {
           color = Qt::black;  // black
         } else if (map_value == 0) {
           color = Qt::white;  // gray
-        } else if(map_value == 255){
+        } else if (map_value == 255) {
           color = Qt::gray;  // white
-        }else{
+        } else {
           color = Qt::white;
         }
 
-
         map_image_.setPixel(i, j, color.rgb());
       }
 
@@ -85,7 +84,10 @@ void DisplayOccMap::ParseOccupyMap() {
     //以0 0点为中心
     double x, y;
     map_data_.xy2ScenePose(0, 0, x, y);
-    CenterOnScene(mapToScene(x,y));
+    if (not init_flag_) {
+      CenterOnScene(mapToScene(x, y));
+      init_flag_ = true;
+    }
   });
 }
 void DisplayOccMap::EraseMapRange(const QPointF &pose, double range) {

mainwindow/src/display/manager/display_manager.cpp

@@ -144,7 +144,6 @@ bool DisplayManager::UpdateDisplay(const std::string &display_type,
       init_flag_ = true;
     }
 
-    FocusOnMapCenter();
   } else if (display_type == DISPLAY_ROBOT) {
     //重定位时屏蔽位置更新
     if (!is_reloc_mode_) {
@@ -179,13 +178,6 @@ bool DisplayManager::UpdateDisplay(const std::string &display_type,
   return true;
 }
 
-void DisplayManager::FocusOnMapCenter(){
-  QTimer::singleShot(1000,[this](){  //地图更新时，聚焦在map 0,0 点
-    double x, y;
-    map_data_.xy2ScenePose(0, 0, x, y);
-    graphics_view_ptr_->centerOn(FactoryDisplay::Instance()->GetDisplay(DISPLAY_MAP)->mapToScene(x,y));});
-
-}
 
 /**
  * @description:坐标系转换为图元坐标系