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Added BA integration test

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This commit is contained in:
matlabbe
2026-05-31 15:52:19 -07:00
parent b8347613e8
commit afc75f5cc4
5 changed files with 776 additions and 11 deletions
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corelib/src/Memory.cpp
+7 -1
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@@ -2494,10 +2494,16 @@ std::map<int, Transform> Memory::loadOptimizedPoses(Transform * lastlocalization
void Memory::save2DMap(const cv::Mat & map, float xMin, float yMin, float cellSize) const
{
if(_dbDriver)
if(_dbDriver && !this->isReadOnly())
{
_dbDriver->save2DMap(map, xMin, yMin, cellSize);
}
else
{
UERROR("Attempting to write back 2D map but the database "
"is opened in read-only mode (%s=true), skipping.",
Parameters::kMemLocalizationReadOnly().c_str());
}
}
cv::Mat Memory::load2DMap(float & xMin, float & yMin, float & cellSize) const