Gmapping - pgm to svg - Autotrace

asked 2016-12-01 04:54:19 -0600

Ben gravatar image

Hello everybody!

during this week i tried to generate a floorplan out of my kobuki. For this i used the gmapping algorithm which works quite well but the generated "map" was in a pgm format which is not the best format for my next steps.

Then i tried the autotrace tool which is able to convert the pgm map to an svg-map. Afterwards i wrote a small c++ parser which reads the generated svg and elimnates the furniture. (It works with an boost::geometry libary / envelope -> works at this time only with a test room in a rectangle shape but for my goal its completly fine) So the result is quiete good but my question is:

Has someone tried the autotrace conversion tool before? The tool has a lot of parameters and i want to know which are the best.

Thank you for everything and kind regards, Ben

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Not sure, but it sounds like what you did could be useful to others, so would be great if you could upload it to github or so. Chances are others might then also use it and come up with improvement Pull Requests ;)

Stefan Kohlbrecher gravatar image Stefan Kohlbrecher  ( 2016-12-01 05:59:03 -0600 )edit