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how can i merge some maps?

asked 2014-02-26 00:46:19 -0600

programmer gravatar image

i want to know, how can i merge two or three maps to one file, maps are created using hector slam?

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What do you mean by "merge"?

AbuIbra gravatar imageAbuIbra ( 2014-02-26 01:21:16 -0600 )edit

Are they already aligned correctly given the origins in the yaml?

dornhege gravatar imagedornhege ( 2014-02-26 01:40:00 -0600 )edit

What you can do is load the three maps using the map server. And then subscribe to the 3 of them and consider one as your reference-map. Then, compute the rotations necessary (to align obstacles for example) and then merge the 2 other maps with the reference. Of course you have to pay attention to the sizes and origins of the maps.

AbuIbra gravatar imageAbuIbra ( 2014-02-26 01:52:00 -0600 )edit

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answered 2014-02-26 01:53:23 -0600

MapStitch allows merging two previously non-aligned maps, provided they have sufficient overlap, are consistent and have similar appearance for the overlapping areas. We haven´t been using it a lot recently, but it worked in experiments we did a few months ago. You might also want to check out the "robocup" branch, as this contains potentially useful bugfixes. Unfortunately, I´m not able to look after it myself currently.

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Asked: 2014-02-26 00:46:19 -0600

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Last updated: Feb 26 '14