i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-03 16:47:47 +08:00
Code Issues Packages Projects Releases Wiki Activity

For Icp/DebugExportFormat and RGBD/ProximityGlobalScanMap, use Rtabmap/WorkingDirectory as output directory for debugging files.

Browse Source
This commit is contained in:
matlabbe
2021-06-27 20:37:42 -04:00
parent a921d615c5
commit 3da4bb9faa
3 changed files with 38 additions and 20 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/Rtabmap.cpp
+11 -3
View File
@@ -6045,9 +6045,17 @@ void Rtabmap::createGlobalScanMap()
//for debugging...
if(!_globalScanMap.empty() && ULogger::level() == ULogger::kDebug)
{
UWARN("Saving rtabmap_global_scan_map.pcd (only saved when logger level is debug)");
pcl::PCLPointCloud2::Ptr cloud2 = util3d::laserScanToPointCloud2(_globalScanMap);
pcl::io::savePCDFile("rtabmap_global_scan_map.pcd", *cloud2);
if(!_wDir.empty())
{
UWARN("Saving %s/rtabmap_global_scan_map.pcd (only saved when logger level is debug)", _wDir.c_str());
pcl::PCLPointCloud2::Ptr cloud2 = util3d::laserScanToPointCloud2(_globalScanMap);
pcl::io::savePCDFile(_wDir+"/rtabmap_global_scan_map.pcd", *cloud2);
}
else
{
UWARN("%s is enabled and logger is debug, but %s is not set, cannot save global scan map for debugging.",
Parameters::kRGBDProximityGlobalScanMap().c_str(), Parameters::kRtabmapWorkingDirectory().c_str());
}
}
}
if(!_globalScanMap.empty() && _globalScanMap.size()<100)