Ask Your Question
0

overlapping occupancy grid maps

asked 2017-11-06 18:04:13 -0500

fandrade gravatar image

Hi,

I need to overlap two pose estimation (from the particle filter) with the map asociated to each of them (the map is the same). After that i need to merge both maps.

As a first step I am choose one pose estimation as fixed and I am trying to rotate and translate the otherone to overlap the fixed one (map included). The problem is that I dont know how to rotate and translate de occupancy grid map.

An image with the problem description is attached. Thanks in advance!image description

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted
0

answered 2017-11-08 21:07:52 -0500

fandrade gravatar image

I finaly could resolve this problem. The way I did it was 1) Calculate the offset between fixed pose and the other pose 2) Create a frame (with tf2 tools) applying the translation and rotation between the poses 3) Then copy the original map, and set the frame_id with the frame created in 2)

You can see the results in the picture. image description

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

2 followers

Stats

Asked: 2017-11-06 18:04:13 -0500

Seen: 811 times

Last updated: Nov 08 '17