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how to double the resolution of the map ?

asked 2015-03-08 07:00:11 -0500

jxl gravatar image

updated 2015-03-08 07:18:05 -0500


i did the SLAM Map Building with TurtleBot,got a map( width :576,height:512) and a yaml file that goes with my pgm map. Its resolution is 0.05,but the SBPL Lattice planner has a map resolution 0.025, i want to change my map's resolution is 0.025.There has been a similar problem .

Question: what should i do to my pgm map with the gimp software to change my pgm map's resolution?

Thanks for your help !!



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answered 2015-03-10 00:52:51 -0500

ahendrix gravatar image

In Gimp, use the Image -> Scale Image tool, and double the X and Y size of the image.

In your map.yaml, set the resolution to 0.025:

resolution: 0.025
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thanks @ahendrix,it's very very clear.By the way ,there is a link , @dornhege suggests that we should not change the resolution after building a map,what do you see this idea ?

jxl gravatar image jxl  ( 2015-03-10 03:31:37 -0500 )edit

You cannot change the resolution without scaling the image also. Unless this is not possible I would usually just rebuilt the map with the target resolution.

dornhege gravatar image dornhege  ( 2015-03-10 05:19:06 -0500 )edit

Thanks very much , you and ahendrix are very kind.^-^

jxl gravatar image jxl  ( 2015-03-11 21:47:01 -0500 )edit

@jxl Have you try to generate your own primitive file(*.mprim) with your resolution in SBPL??? May be it works

Tarantula-7 gravatar image Tarantula-7  ( 2017-04-02 22:21:37 -0500 )edit

answered 2015-03-09 01:31:50 -0500

Anthony Brooks gravatar image

I don't know what you want to do , but you can change the resolution in the .world file , and use it in stage_ros , hope it can help you .

By the way, could you tell me more information about yourself ? I am in xi an ,too.

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Sure,my QQ number is 734657000

jxl gravatar image jxl  ( 2015-03-09 04:29:07 -0500 )edit

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Asked: 2015-03-08 07:00:11 -0500

Seen: 1,317 times

Last updated: Mar 10 '15