Fixed map not showing in graphview

introlab · Mar 27, 2024 · 279269f · 279269f
1 parent 5d3af77
commit 279269f
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Showing 2 changed files with 5 additions and 4 deletions.
diff --git a/corelib/src/Optimizer.cpp b/corelib/src/Optimizer.cpp
@@ -117,7 +117,7 @@ Optimizer * Optimizer::create(Optimizer::Type type, const ParametersMap & parame
 					type = Optimizer::kTypeCeres;
 		}
 	}
-	if(!OptimizerGTSAM::available() && (type == Optimizer::kTypeGTSAM))
+	if(!OptimizerGTSAM::available() && type == Optimizer::kTypeGTSAM)
 	{
 		if(OptimizerG2O::available())
 		{

diff --git a/guilib/src/MainWindow.cpp b/guilib/src/MainWindow.cpp
@@ -3429,7 +3429,8 @@ void MainWindow::updateMapCloud(
 		}
 	}
 	cv::Mat map8U;
-	if(_ui->graphicsView_graphView->isVisible() && _preferencesDialog->getGridMapShown())
+	if((_ui->graphicsView_graphView->isVisible() && _ui->graphicsView_graphView->isGridMapVisible()) ||
+	   (_cloudViewer->isVisible() && _preferencesDialog->getGridMapShown()))
 	{
 		float xMin, yMin;
 		float resolution = _occupancyGrid->getCellSize();
@@ -3457,12 +3458,12 @@ void MainWindow::updateMapCloud(
 			//convert to gray scaled map
 			map8U = util3d::convertMap2Image8U(map8S);
 
-			if(_preferencesDialog->getGridMapShown())
+			if(_cloudViewer->isVisible() && _preferencesDialog->getGridMapShown())
 			{
 				float opacity = _preferencesDialog->getGridMapOpacity();
 				_cloudViewer->addOccupancyGridMap(map8U, resolution, xMin, yMin, opacity);
 			}
-			if(_ui->graphicsView_graphView->isVisible())
+			if(_ui->graphicsView_graphView->isVisible() && _ui->graphicsView_graphView->isGridMapVisible())
 			{
 				_ui->graphicsView_graphView->updateMap(map8U, resolution, xMin, yMin);
 			}