How can I transform the jpg/bmp picture to a ROS .pgm map

asked 2021-03-20 04:05:06 -0500

alex_zt
3 ●2 ●3 ●4

updated 2021-03-20 08:59:12 -0500

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

I have a map of school's square generated by a GPS measuring instrument. The size of the square is 71.27m * 59.98m actually and is 71.27mm * 59.98mm in the CAD diagram.

And now I want to use this map as the navigation map based on ROS. The resolution unit of pgm map in ROS is usually 0.05m/pixel. However, the resolution of the .jpg picture is 144dpi*144dpi.

How can I transform the jpg/bmp picture to a ROS .pgm map? I know this transformation must properly be scaled so that one pixel in my map matches the resolution setting in AMCL. I have tried to make the change by Photoshop but failed.

So can you tell me the details about the change?

image description

Thank you.

answered 2021-03-21 01:52:36 -0500

miura

1908 ●1 ●171 ●24 https://twitter.com/miura

I will present an idea assuming that the package you are using is "map_server".

The image format is not pgm, and the resolution is different, both of which I think can be solved by setting the yaml file.

image : Path to the image file containing the occupancy data; can be absolute, or relative to the location of the YAML file

resolution : Resolution of the map, meters / pixel

Example

image: xxx.jpg
resolution: 0.00001763888 # 0.024m/inch / 144dpi
origin: [0.0, 0.0, 0.0].
occupied_thresh: 0.65
free_thresh: 0.196
negate: 0

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Thank you for presenting the idea. i have try this.

But map_server tell the wrong.

Have you try this method before?

alex_zt ( 2021-03-28 21:58:06 -0500 )edit

@alex_zt I've done "image: xxx.png" before, and I've changed the resolution, though not as small as 0.00001763888. If you have a problem that has never been posted on ROS ANSWERS, why don't you create a question? Depending on the nature of the problem, we may be able to help.

miura ( 2021-03-29 07:04:07 -0500 )edit

Ok, sir. Thank you. I will create this question

alex_zt ( 2021-03-29 21:20:20 -0500 )edit

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How can I transform the jpg/bmp picture to a ROS .pgm map

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