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Get map dimensions for map saved from map server

asked 2017-12-06 15:43:13 -0500

fiorano10 gravatar image

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 -0500

jayess gravatar image

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...

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What are some ways I could get the x and y pixels for the map and not the pgm file? My pgm file has larger dimensions than the actual map.

fiorano10 gravatar image fiorano10  ( 2017-12-06 16:56:11 -0500 )edit

You can just manually edit the pgm so that it is the size of your map. I've used GIMP to edit maps before.

jayess gravatar image jayess  ( 2017-12-06 16:57:53 -0500 )edit

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Asked: 2017-12-06 15:43:13 -0500

Seen: 1,071 times

Last updated: Dec 06 '17