BUGFIX: Gridmap viz wont update

MRPT · Nov 4, 2024 · 16769a3 · 16769a3
1 parent ec67e8f
commit 16769a3
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Showing 2 changed files with 8 additions and 2 deletions.
diff --git a/apps/GridmapNavSimul/gridmapSimulMain.cpp b/apps/GridmapNavSimul/gridmapSimulMain.cpp
@@ -131,7 +131,8 @@ CPose2D lastOdo, pose_start;
 bool we_are_closing = false;
 long decimation = 1;
 
-mrpt::opengl::CSetOfObjects::Ptr gl_grid;
+auto gl_grid = mrpt::opengl::CSetOfObjects::Create();
+
 mrpt::opengl::CSetOfObjects::Ptr gl_robot;
 mrpt::opengl::CPlanarLaserScan::Ptr gl_scan;
 mrpt::opengl::CPointCloud::Ptr gl_path_GT;
@@ -652,7 +653,11 @@ gridmapSimulFrame::~gridmapSimulFrame()
   //*)
 }
 
-void gridmapSimulFrame::update_grid_map_3d() { gl_grid = the_grid.getVisualization(); }
+void gridmapSimulFrame::update_grid_map_3d()
+{
+  gl_grid->clear();
+  gl_grid->insert(the_grid.getVisualization());
+}
 
 void gridmapSimulFrame::OnbtnQuitClick(wxCommandEvent& event)
 {

diff --git a/doc/source/doxygen-docs/changelog.md b/doc/source/doxygen-docs/changelog.md
@@ -5,6 +5,7 @@
   - Fix appstreamcli warnings in metadata XML files.
 - BUG FIXES:
   - mrpt::maps::CPointsMapXYZIRT::getPointRGB() now handles the case of no intensity without throwing, fixing the visualization of such clouds through mrpt::opengl::CPointCloudColoured::loadFromPointsMap().
+  - GridmapNavSimul: Loading a different gridmap won't update the map visualization.
 
 # Version 2.14.4: Released Oct 19th, 2024
 - BUG FIXES: