search

minosworld / minos

MINOS: Multimodal Indoor Simulator
MIT License
201 stars 33 forks source link

How to increase the resolution and dimension of saved png map of "-s map --navmap" in minos.? #120

Open DRAhmadFaraz opened 5 years ago

DRAhmadFaraz commented 5 years ago

How to increase the resolution and dimension of s-map and nav-map in minos by using this command.? "-s map --navmap "

map_70 map_71 map_72

angelxuanchang commented 5 years ago

The actual navmap used by minos is precomputed and the resolution is determined at that time (currently at 10cm per pixel resolution). If you want to generate higher resolution maps you need to regenerate the navmap (see https://github.com/minosworld/minos#exporting-precomputed-resources and https://github.com/minosworld/minos/blob/master/minos/server/export_navgrid.js). You will need to use a smaller cellSize (say --cellSize 0.05 for 5 centimeter resolution). Since this map is used to compute traversable path for the agent, it is best that the cellSize is a bit smaller than the agent radius but not too small.

If you are interested in increasing the resolution for visualizing the path taken by the agent, please take a look at the https://github.com/minosworld/minos/blob/master/minos/server/visualize_traces.js