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backup service: save also optimized 2d grip map (like on close)

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matlabbe
2020-08-24 15:01:42 -04:00
parent 3df4648b14
commit 87d955f154
1 changed files with 11 additions and 0 deletions
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src/CoreWrapper.cpp
+11
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@@ -2615,6 +2615,17 @@ bool CoreWrapper::triggerNewMapCallback(std_srvs::Empty::Request&, std_srvs::Emp
bool CoreWrapper::backupDatabaseCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&) bool CoreWrapper::backupDatabaseCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&)
{ {
NODELET_INFO("Backup: Saving memory..."); NODELET_INFO("Backup: Saving memory...");
if(rtabmap_.getMemory())
{
// save the grid map
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);
}
}
rtabmap_.close(); rtabmap_.close();
NODELET_INFO("Backup: Saving memory... done!"); NODELET_INFO("Backup: Saving memory... done!");