Fixed #1173 (edited optimized map regenerated in localization mode)

introlab · Jun 10, 2024 · 9e45c94 · 9e45c94
1 parent 0f03db9
commit 9e45c94
Showing 1 changed file with 4 additions and 1 deletion.
diff --git a/corelib/src/global_map/OccupancyGrid.cpp b/corelib/src/global_map/OccupancyGrid.cpp
@@ -81,7 +81,10 @@ void OccupancyGrid::setMap(const cv::Mat & map, float xMin, float yMin, float ce
 		minValues_[0] = xMin;
 		minValues_[1] = yMin;
 		cellSize_ = cellSize;
-		addAssembledNode(poses.lower_bound(1)->first, poses.lower_bound(1)->second);
+		for(std::map<int, Transform>::const_iterator iter=poses.lower_bound(1); iter!=poses.end(); ++iter)
+		{
+			addAssembledNode(iter->first, iter->second);
+		}
 	}
 }