Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.
I am using Cartographer as standalone. It works great for mapping and localizing purposes. One task I have been assigned is to be able to edit maps generated by cartographer as well as change the origin. Currently, after mapping I get a YAML file and PGM (same algorithm output by ROS). I also have a converted PNG file (maybe not so relavant). I have seen where it is difficult to just convert a pgm back into a pbstream since the trajectory data would not be included from the pgm.
However, when I first used Cartographer, it was through ISAAC by NVIDIA. I was able to edit maps created through this application as well as move the origin to where I wanted it to be. So this is apparently doable. Does anyone have any heads up on how this is done? Are there certain files I should be generating? Is there a way for me to see how the pbstream file is structured? Currently it is unreadable in any text editor. My YAML file does help with giving me the robot perceived map origin with respect to the pgm image center. I appreciate any insight or even a small lead. I have not problem doing the work to get where I need to be, but I'm not sure where to start.
I am using Cartographer as standalone. It works great for mapping and localizing purposes. One task I have been assigned is to be able to edit maps generated by cartographer as well as change the origin. Currently, after mapping I get a YAML file and PGM (same algorithm output by ROS). I also have a converted PNG file (maybe not so relavant). I have seen where it is difficult to just convert a pgm back into a pbstream since the trajectory data would not be included from the pgm.
https://github.com/cartographer-project/cartographer_ros/issues/672
However, when I first used Cartographer, it was through ISAAC by NVIDIA. I was able to edit maps created through this application as well as move the origin to where I wanted it to be. So this is apparently doable. Does anyone have any heads up on how this is done? Are there certain files I should be generating? Is there a way for me to see how the pbstream file is structured? Currently it is unreadable in any text editor. My YAML file does help with giving me the robot perceived map origin with respect to the pgm image center. I appreciate any insight or even a small lead. I have not problem doing the work to get where I need to be, but I'm not sure where to start.