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cartographer-project / cartographer

Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.
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Add a ProbabilityGridPointsProcessor for 2D data into the assets_writer_main #355

Closed SirVer closed 7 years ago

SirVer commented 7 years ago

Writing X-Rays does not work for 2D data. For that, an image representation of the probability grid would be best. Adding a PointsProcessor that constructs a probability grid (with trajectory on it) and writes it out would be useful.

There are two useful incarnations of this:

1) Something similarly to the XRayPointsProcessor, but purely 2d. This should write out a PNG (optionally with trajectories on it). 2) Something similar to the HybridGridPointsProcessor, but writing a 2D ProbabilityGrid proto.

SirVer commented 7 years ago
  1. was implemented in #383.
  2. seems currently unnecessary. If a ROS map is required, the occupancy_grid_node can be used to generate one. Should it be served statically, the map_writer can be used to save the output into a PGM and YAML.

Calling this therefore done. @damienrg: Thanks again for implementing this!