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How to save a vector based map

asked 2018-07-30 07:18:16 -0500

johnbryant gravatar image

updated 2018-07-31 18:54:12 -0500

jayess gravatar image

Hi I am using the laser_line_extraction package to create lines and vector out of the laser points. Is there any way to save these type of maps (line or vector based ) in ROS???? Thanks in advance.

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How are you storing these maps in your program as they are built? Are they just a list of line segments or do you have additional meta data such as confidence or age?

PeteBlackerThe3rd gravatar image PeteBlackerThe3rd  ( 2018-07-31 09:12:59 -0500 )edit

I only have the following topics that the /line_extractor publishes : * /line_markers [visualization_msgs/Marker] * /line_segments [laser_line_extraction/LineSegmentList] Is there any way to save these line segments into a yaml or pgm file like you do with the gmapping package?

johnbryant gravatar image johnbryant  ( 2018-07-31 09:19:28 -0500 )edit

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answered 2018-07-31 18:14:38 -0500

I've had a look at the laser_line_extraction package and it extracts line segments from a single laser scan message. How are you building a map out of these lines?

There seems to be a step missing. The gmapping package aligns many laser scans with each other to create a single global map. It uses a regular grid to store this map so many scans can be easily added to it.

To make a vector based map you'd have to do the same steps but with line segments which is far more complicated to implement.

To save these maps you would need to use a standard vector format (svg, dxf, etc) or your own custom one. The pgm file format used by gmapping stores raster images so cannot store vector information.

I don't know of any out of the box ROS system that can achieve what you want but it would be a good project to get stuck in and build them.

Hope this makes sense.

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Yes , I got it, I am trying to see how I would make this work, seems hard to implement it but for sure it is worth investigating. Thanks for the answer, it is a bit more clear now.

johnbryant gravatar image johnbryant  ( 2018-08-01 03:21:53 -0500 )edit

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Asked: 2018-07-30 07:18:16 -0500

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Last updated: Jul 31 '18