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read-only support (#1397)

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matlabbe
2026-01-22 16:00:40 -08:00
committed by GitHub
parent 2f258bdae0
commit 758b7fa4cd
2 changed files with 16 additions and 7 deletions
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rtabmap_conversions/CMakeLists.txt
+1 -1
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@@ -7,7 +7,7 @@ find_package(catkin REQUIRED COMPONENTS
image_geometry rtabmap_msgs image_geometry rtabmap_msgs
) )
find_package(RTABMap 0.21.13 REQUIRED) find_package(RTABMap 0.23.4 REQUIRED)
catkin_package( catkin_package(
INCLUDE_DIRS include INCLUDE_DIRS include
rtabmap_slam/src/CoreWrapper.cpp
+15 -6
View File
@@ -888,15 +888,24 @@ CoreWrapper::~CoreWrapper()
this->saveParameters(configPath_); this->saveParameters(configPath_);
printf("rtabmap: Saving database/long-term memory... (located at %s)\n", databasePath_.c_str()); printf("rtabmap: Saving database/long-term memory... (located at %s)\n", databasePath_.c_str());
bool saveDatabase = true;
if(rtabmap_.getMemory()) if(rtabmap_.getMemory())
{ {
// save the grid map if(!rtabmap_.getMemory()->isReadOnly())
float xMin=0.0f, yMin=0.0f, gridCellSize = 0.05f;
cv::Mat pixels = mapsManager_.getGridMap(xMin, yMin, gridCellSize);
if(!pixels.empty())
{ {
printf("rtabmap: 2D occupancy grid map saved.\n"); // save the grid map
rtabmap_.getMemory()->save2DMap(pixels, xMin, yMin, gridCellSize); float xMin=0.0f, yMin=0.0f, gridCellSize = 0.05f;
cv::Mat pixels = mapsManager_.getGridMap(xMin, yMin, gridCellSize);
if(!pixels.empty())
{
printf("rtabmap: 2D occupancy grid map saved.\n");
rtabmap_.getMemory()->save2DMap(pixels, xMin, yMin, gridCellSize);
}
}
else
{
printf("rtabmap: Database is read-only, the current state of the memory is not saved.\n");
saveDatabase = false;
} }
} }