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Read-only localization mode (#1643)

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* Read-only localization mode

* Localization: don't update map's node timestamps if statistic after run are not saved

* Updated Mem/LocalizationReadOnly description

* Updated description of Kp/FlannIndexSaved
This commit is contained in:
matlabbe
2026-01-22 15:59:55 -08:00
committed by GitHub
parent 48f529b4c6
commit da55168f60
11 changed files with 248 additions and 208 deletions
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corelib/src/Rtabmap.cpp
+5
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@@ -507,6 +507,11 @@ void Rtabmap::close(bool databaseSaved, const std::string & ouputDatabasePath)
}
if(_memory)
{
if(_memory->isReadOnly() && databaseSaved)
{
UWARN("Database is read-only, latest optimized poses, latest localization pose and latest state of the memory are not saved.");
databaseSaved = false;
}
if(databaseSaved)
{
if(_memory->isGraphReduced() && _memory->isIncremental())