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Hi I have used amcl to build a 2D map and rgbdslam+octomap to build a 3D map. These two maps are for the same room. Now I want to attach the 3D map onto the 2D map, like the picture below, is there a way of doing this? I tried change the parameters in .yaml file but it does not work.Thanks for any suggestions !!!
by the way, the image is from here
As far as I know the octomap can produce a 2d map from itself by projecting it. This would then also fit.
Nevertheless, you should be able to use both independently by just suppling the 2d map via the map server as normal. If they are build together/based on the same data, they should then also match each other.
If they are build using different localization data, you'll need to align them. I don't know anything automatic, so the easiest might be to modify the 2d map origin.
I got the 2D map from laser scan and 3D map from RGBDSlam + Octomap,but for the same room, does it count as "based on the same data"? And I tried modifying the 2D origin in .yaml file but it cannot solve the problem that the 3D map is tilted comparing to the 2D map. Any ideas?
Asked: 2012-09-09 19:08:27 -0500
Seen: 2,703 times
Last updated: Sep 10 '12
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You built a 2D map with AMCL? Do you mean you built it with gmapping?
opps sorry. yes I built the map using gmapping but i use amcl to do the localization on this 2D map. i mixed these two, my bad
did you solve the problem? it would be greate if you could tell us your result, because I am having the same problem!