Is there a way to transfer jpg pictures into occupied grid map?

hey

I am new to ros and not familiar with this part

What I am doing is using inverse perspective mapping, to map the car view traffic line into a bird view jpg Image.

or I should say that I now have god view traffic line.

And I want to turn this into map which can be used.

Is there a way to do that?

Thank you!!

Asked by jlyw1017 on 2018-06-08 08:06:40 UTC

Comments

Maybe you can check around heightmap algorithm, does it look like what you want to do ?

Asked by lmathieu on 2018-06-08 08:25:20 UTC

Answers

You can use map_server and add your image URL in the file yaml, if this don't do , first try apply binary for the image.

Asked by Yesika Rodriguez on 2020-04-15 23:14:37 UTC

Comments

You can use the costmap_2d layered architecture. The costmap gets built by multiple layers, you can add a new one. In this new layer after you do IPM on the image you place the traffic line in the using cost values that show how occupied is each individual layer cell. This way even the built in navigation stack can do path planning on top of the new layer.costmap_2d wiki

Asked by man-do on 2021-02-20 11:33:09 UTC