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DBViewer: dont clear optimized map if there are no link changes

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matlabbe
2025-03-17 17:50:11 -07:00
parent 135110c9b6
commit 5f946cc26b
1 changed files with 10 additions and 11 deletions
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21
guilib/src/DatabaseViewer.cpp
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@@ -1062,9 +1062,6 @@ bool DatabaseViewer::closeDatabase()
}
generatedLocalMaps_.clear();
localMaps_.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)
@@ -2907,11 +2904,10 @@ void DatabaseViewer::editSaved2DMap()
return;
}
if(linksAdded_.size() || linksRefined_.size() || linksRemoved_.size() || generatedLocalMaps_.size())
if(linksAdded_.size() || linksRefined_.size() || linksRemoved_.size())
{
QMessageBox::warning(this, tr("Cannot edit 2D map"),
tr("The database has modified links and/or modified local "
"occupancy grids, the 2D optimized map cannot be modified."));
tr("The database has modified links, the 2D optimized map cannot be modified."));
return;
}
@@ -3038,7 +3034,7 @@ void DatabaseViewer::editSaved2DMap()
{
if(x+j>=0 && x+j<map8S.cols &&
y+k>=0 && y+k<map8S.rows &&
map8S.at<unsigned char>(y+k,x+j) == 100)
map8S.at<signed char>(y+k,x+j) == 100)
{
obstacleDetected = true;
}
@@ -3102,7 +3098,7 @@ void DatabaseViewer::editSaved2DMap()
{
if(x+j>=0 && x+j<map8S.cols &&
y+k>=0 && y+k<map8S.rows &&
map8S.at<unsigned char>(y+k,x+j) == 100)
map8S.at<signed char>(y+k,x+j) == 100)
{
obstacleDetected = true;
}
@@ -3238,11 +3234,10 @@ void DatabaseViewer::import2DMap()
return;
}
if(linksAdded_.size() || linksRefined_.size() || linksRemoved_.size() || generatedLocalMaps_.size())
if(linksAdded_.size() || linksRefined_.size() || linksRemoved_.size())
{
QMessageBox::warning(this, tr("Cannot import 2D map"),
tr("The database has modified links and/or modified local "
"occupancy grids, the 2D optimized map cannot be modified."));
tr("The database has modified links, the 2D optimized map cannot be modified."));
return;
}
@@ -3885,6 +3880,10 @@ void DatabaseViewer::regenerateLocalMaps()
}
else
{
if(modifiedLaserScans_.find(s.id())!=modifiedLaserScans_.end())
{
s.sensorData().setLaserScan(modifiedLaserScans_.at(s.id()));
}
localMapMaker.createLocalMap(s, ground, obstacles, empty, viewpoint);
}