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Fixed saved grid map wrongly cleared when RGBD/OptimizeFromGraphEnd is true

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matlabbe
2018-08-02 17:07:48 -04:00
parent bc4b7a860e
commit a97be68897
3 changed files with 47 additions and 4 deletions
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include/rtabmap_ros/MapsManager.h
+1 -1
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@@ -52,7 +52,7 @@ public:
bool hasSubscribers() const;
void backwardCompatibilityParameters(ros::NodeHandle & pnh, rtabmap::ParametersMap & parameters) const;
void setParameters(const rtabmap::ParametersMap & parameters);
void set2DMap(const cv::Mat & map, float xMin, float yMin, float cellSize, const std::map<int, rtabmap::Transform> & poses);
void set2DMap(const cv::Mat & map, float xMin, float yMin, float cellSize, const std::map<int, rtabmap::Transform> & poses, const rtabmap::Memory * memory = 0);
std::map<int, rtabmap::Transform> getFilteredPoses(
const std::map<int, rtabmap::Transform> & poses);