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octomap to a 2d map

asked 2013-04-23 08:21:35 -0500

unknown gravatar image

from ros.org, it said "octomap_server loads a 3D map (as Octree-based OctoMap) and distributes it to other nodes in a compact binary format". so how can i convert those binary format to a real 2d pmg format map.

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answered 2013-04-23 10:59:56 -0500

fergs gravatar image

While not documented anywhere, I have an octo_to_2d utility in the map_tools package of my sandbox repository. This will take a COLOR octomap in .ot format, take a slice at a specified height, and publish an appropriate map. You can then use map_saver to save the map. The source code is pretty self documenting as far as parameters and topics.

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The octomap_server should be able to do that out of the box (not sure about color octomaps).

dornhege gravatar image dornhege  ( 2013-04-25 06:45:03 -0500 )edit
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answered 2013-04-23 08:39:49 -0500

dornhege gravatar image

The binary format of the octomap library is not an image format. It is just a compact representation of the 3D map (i.e. not a 2d map) and thus cannot just be converted to a pgm map.

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Asked: 2013-04-23 08:21:35 -0500

Seen: 534 times

Last updated: Apr 23 '13