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Now ROS saves the robot map as pgm format, but I want to save the map as jpg format, I konw I could use the opencv to convert the "pgm map" to the "jpg map", but if I could save the map as jpg format in the map_saver code directly, it would be better. However, I know little about picture format and it's difficult for me to write the code by myself.
Thank you very much!
First, I'd advise against saving the map as .jpg as that introduces compression artifacts that look bad and can mess with further processing (or the eye of the beholder ;) ).
If you absolutely want to directly save the map as jpg, the easiest way is probably to copy/modify the map_saver, add a dependency on opencv, convert the map to a cv::Mat in the map callback and then write it out as jpg. Here is code for converting a nav_msgs/OccupancyGrid to cv::Mat and here is an example of saving a cv::Mat to jpg.
A easier option is of course to use a command-line tool such as convert. It should allow to perform the conversion from command line or inside a script by simply calling
convert map.pgm map.jpg
You can open it with GIMP and the go to File->Export As and there you can select to export it as jpg.
Asked: 2016-01-12 01:57:41 -0600
Seen: 1,439 times
Last updated: Jan 12 '16
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