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Hi there,
as the topic says: I want to merge/combine two OccupancyGridMaps.
The conditions: I recieve two messages (nav_msgs/OccupancyGrid) by two services. These two maps have the same resolution, but different postions and size (orientation can be omitted).
My question: Is there an easy way to combine/overlay these maps and build a new map out of these? Or do I have to do this the hard way?
Kind regards, tiko
The occupancy_grid_utils package (http://www.ros.org/wiki/occupancy_grid_utils) provides a "union of grids" operation.
My advice: convert them to images, work as images, and then convert back. That is, build an OpenCV 8-bit unsigned image for each map, then rotate and translate one appropriately, and then add them together in image space, and switch back to an OccupancyGrid.
Asked: 2012-03-05 10:17:28 -0500
Seen: 2,314 times
Last updated: Mar 06 '12
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