DbViewer: exporting map info in yaml file when exporting 2d occupancy…

… grid (#978)
introlab · Feb 26, 2023 · 70cbe52 · 70cbe52
1 parent e6e6630
commit 70cbe52
Showing 1 changed file with 20 additions and 1 deletion.
diff --git a/guilib/src/DatabaseViewer.cpp b/guilib/src/DatabaseViewer.cpp
@@ -3135,7 +3135,26 @@ void DatabaseViewer::exportSaved2DMap()
 				path += ".pgm";
 			}
 			cv::imwrite(path.toStdString(), map8U);
-			QMessageBox::information(this, tr("Export 2D map"), tr("Exported %1!").arg(path));
+
+			QFileInfo info(path);
+			QString yaml = info.absolutePath() + "/" +  info.baseName() + ".yaml";
+
+			float occupancyThr = Parameters::defaultGridGlobalOccupancyThr();
+			Parameters::parse(ui_->parameters_toolbox->getParameters(), Parameters::kGridGlobalOccupancyThr(), occupancyThr);
+
+			std::ofstream file;
+			file.open (yaml.toStdString());
+			file << "image: " << info.baseName().toStdString() << ".pgm" << std::endl;
+			file << "resolution: " << cellSize << std::endl;
+			file << "origin: [" << xMin << ", " << yMin << ", 0.0]" << std::endl;
+			file << "negate: 0" << std::endl;
+			file << "occupied_thresh: " << occupancyThr << std::endl;
+			file << "free_thresh: 0.196" << std::endl;
+			file << std::endl;
+			file.close();
+
+
+			QMessageBox::information(this, tr("Export 2D map"), tr("Exported %1 and %2!").arg(path).arg(yaml));
 		}
 	}
 }