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Get map dimensions for map saved from map server

asked 2017-12-06 15:43:13 -0600

fiorano10
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After implementing SLAM using gmapping, the map was saved using map_server package, as a pgm file and a yaml file, I need to know the dimensions of the objects in the map and the map itself, how do I achieve this?

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answered 2017-12-06 16:41:39 -0600

jayess
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Get the dimensions of the pgm (x pixels by y pixels) then examine your yaml file. In the yaml file the resolution of the map is given in meters/pixel. This will allow you to determine the size of your map in meters. You would figure out the size of objects in the map in a similar fashion (i.e., multiply the number of pixels your object takes by the resolution of your map and you'll have the physical size of the object).

Refer to http://wiki.ros.org/map_server#YAML_f...