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fixed old occupancy grids not recreated when they were not saved previously in database

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matlabbe
2018-04-25 16:33:00 -04:00
parent ada469fec9
commit a89e0322d6
1 changed files with 6 additions and 0 deletions
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src/MapsManager.cpp
+6
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@@ -495,6 +495,12 @@ std::map<int, rtabmap::Transform> MapsManager::updateMapCaches(
"save them back in the database for next sessions. This warning is only shown once.", "save them back in the database for next sessions. This warning is only shown once.",
data.id(), Parameters::kRGBDCreateOccupancyGrid().c_str()); data.id(), Parameters::kRGBDCreateOccupancyGrid().c_str());
} }
if(occupancySavedInDB)
{
// if we are here, it is because we loaded a database with old nodes not having occupancy grid set
// try reload again
data = memory->getSignatureDataConst(iter->first, occupancyGrid_->isGridFromDepth(), !occupancyGrid_->isGridFromDepth(), false, false);
}
data.uncompressData( data.uncompressData(
occupancyGrid_->isGridFromDepth() && generateGrid?&rgb:0, occupancyGrid_->isGridFromDepth() && generateGrid?&rgb:0,
occupancyGrid_->isGridFromDepth() && generateGrid?&depth:0, occupancyGrid_->isGridFromDepth() && generateGrid?&depth:0,