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MapStitch - merge multiple 2D maps ================================= This is a ROS component and a command line tool to align a map to a previously saved 2D map. The previously saved map is assumed to have been created by the map_saver ROS component. The implementation is based on opencvs estimateRigidTransform function, ORB feature extraction and matching the distance of pairwise feature candidates. ROS component ============= The ROS component can be run with "rosrun mapstitch ros_mapstitch" and supports three parameters: * max_distance, the treshold distance for filtering pairwise distances. Too high does not filter any features and too low filter too much. This is the pixel distance between matches in both maps, so should be set depending on the resolution of your maps. * debug, set to true will save the current_stitch.pgm and current_map.pgm, i.e. the stitchted maps and the current map as seen on /map. The component will listen on the /world topic for the OccupancyGrid-Map to align the /map topic one to. At the moment no scaling is implemented, so the maps need to have the same resolution. The transformation from /map to /world will be published on the frame_ids given in the /map and /world topics. The node now listen to three topics: /map - publish the /map->/world (frame_ids) transform on update /world - receive the world map on this latched topic /align - receive the map used for alignment We have three topics to be able to publish two "complete" maps on /align and /world and calculate a "static" transform and then publish this transform whenever something on /map keeps published (this is needed so the transform does not timeout). Command Line Tool ================= The command line tool can be run with bin/mapstitch and can be used to align two previosuly saved .pgm maps on each other. It is mainly meant for testing and debugging. The Usage is bin/mapstitch [-o <string>] [-v] [-d <max-distance>] [--] [--version] [-h] <file1 and file2> ... Where: -o <string>, --outfile <string> output filename -v, --verbose verbose output -d <max-distance>, --maximum-distance <max-distance> maximum distance on matched points pairs for inclusion --, --ignore_rest Ignores the rest of the labeled arguments following this flag. --version Displays version information and exits. -h, --help Displays usage information and exits. <file1 and file2> (accepted multiple times) input file names (first one is pivot element) Aligns multiple scan maps and combines into a single image. All images given on the command line will be aligned to the first supplied image and their respective rotation/translation and transformation matrix will be returned. TODO ---- * check that world file and /map have the same resolution
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