Application: observations2map
This program takes a simplemap
as input (e.g. from a SLAM app), and generates one or several metric maps from its observations and poses, dumping the map representations to individual files. A typical usage is to rebuild occupancy gridmaps of different resolutions after building a map with icp-slam or rbpf-slam.
Usage:
1 |
observations2map <config_file.ini> <observations.simplemap> <outputmap_prefix> [-s INI_FILE_SECTION_NAME] |
For example:
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observations2map icp-slam_demo_classic.ini final_map.simplemap mymap |
About the program arguments:
- <config_file.ini>: A configuration file. Its minimum content must be a section with the description of a CMultiMetricMap: how many points maps, grid maps, etc. it should have and all their parameters. The default section name (
[MappingApplication]
) is such that configuration files for the applications icp-slam or rbpf-slam can be used without changes. See examples of those config files in the icp-slam and rbpf-slam sample config file directories. - <observations.simplemap>: A file containing the serialization of a mrpt::maps::CSimpleMap object. Typically this files is obtained as result of a SLAM program, but it could be generated programatically as well.
- <outputmap_prefix>: The prefix of all generated files. It will be used as argument to mrpt::maps::CMetricMap::saveMetricMapRepresentationToFile() in all generated metric maps.
- INI_FILE_SECTION_NAME: The section name from where to read map parameters in the config file. See description of the config file above.