Is there a way to transfer jpg pictures into occupied grid map?

asked 2018-06-08 08:06:40 -0600

jlyw1017
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updated 2018-06-08 08:09:44 -0600

hey

I am new to ros and not familiar with this part

What I am doing is using inverse perspective mapping, to map the car view traffic line into a bird view jpg Image.

or I should say that I now have god view traffic line.

And I want to turn this into map which can be used.

Is there a way to do that?

Thank you!!

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Maybe you can check around heightmap algorithm, does it look like what you want to do ?

lmathieu ( 2018-06-08 08:25:20 -0600 )edit

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answered 2021-02-20 10:33:09 -0600

man-do
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You can use the costmap_2d layered architecture. The costmap gets built by multiple layers, you can add a new one. In this new layer after you do IPM on the image you place the traffic line in the using cost values that show how occupied is each individual layer cell. This way even the built in navigation stack can do path planning on top of the new layer.costmap_2d wiki