generating a *.pgm with the trajectory on it.

[Akshay Bharadwaj]

Hey all,

I use the latest version of the code to map in realtime, but im also interested in generating occupancy grid based map, i.e. the *.pgm file that write_assets service used to write. I know this has been done, but i pulled from the master and I lost that feature. Anyways, after a lot of searching , I found a commit that has write_assets service but it generates a image without drawing the trajectory on the image. Anyway I decided to hack the code to draw the trajectory, but seem to be stuck .

Could someone please suggest me how to extract all the optimized trajectories from SparsePoseGraph object? From the code, it looks like

GetTrajectoryNodes()

returns the trajectory with a data type

std::vector<std::vector<>>.

I'm finding it hard to understand the structure of poses in the SparsePoseGraph object as i expect it to be of the type std::vector<>. (its confusing because its different from how I read it from .pbstream file)

Also any suggestions to plot the pose on the occupancy grid image??

Thanks

[Holger Rapp]

​If you still have the bag that generated this data, the correct approach is to use the asset writer. See for example the fetch example​ which generates an occupancy grid (as PNG) with a trajectory on it.  There is also a new PointsProcessor that can generate PGM and YAML (without trajectory), but it is not yet merged: https://github.com/googlecartographer/cartographer_ros/pull/548.

 

Thanks

​​

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