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DetectMoreLoopClosures: update optimized poses and clear occupancy grid saved in database

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This commit is contained in:
matlabbe
2018-11-09 20:36:58 -05:00
parent be1532b809
commit 015c442f1c
2 changed files with 39 additions and 14 deletions
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13
guilib/src/DatabaseViewer.cpp
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@@ -874,6 +874,15 @@ bool DatabaseViewer::closeDatabase()
linksAdded_.clear();
linksRefined_.clear();
linksRemoved_.clear();
// Clear the optimized poses, this will force rtabmap to re-optimize the graph on initialization
Transform lastLocalizationPose;
if(!dbDriver_->loadOptimizedPoses(&lastLocalizationPose).empty())
{
dbDriver_->saveOptimizedPoses(std::map<int, Transform>(), lastLocalizationPose);
}
// This will force rtabmap_ros to regenerate the global occupancy grid if there was one
dbDriver_->save2DMap(cv::Mat(), 0, 0, 0);
}
if(button != QMessageBox::Yes && button != QMessageBox::No)
@@ -895,7 +904,6 @@ bool DatabaseViewer::closeDatabase()
if(button == QMessageBox::Yes)
{
// Rejected links
UASSERT(generatedLocalMaps_.size() == generatedLocalMapsInfo_.size());
std::map<int, std::pair<std::pair<cv::Mat, cv::Mat>, cv::Mat > >::iterator mapIter = generatedLocalMaps_.begin();
std::map<int, std::pair<float, cv::Point3f> >::iterator infoIter = generatedLocalMapsInfo_.begin();
@@ -914,6 +922,9 @@ bool DatabaseViewer::closeDatabase()
generatedLocalMapsInfo_.clear();
localMaps_.clear();
localMapsInfo_.clear();
// This will force rtabmap_ros to regenerate the global occupancy grid if there was one
dbDriver_->save2DMap(cv::Mat(), 0, 0, 0);
}
if(button != QMessageBox::Yes && button != QMessageBox::No)