search

simondlevy / BreezySLAM

Simple, efficient, open-source package for Simultaneous Localization and Mapping
GNU Lesser General Public License v3.0
758 stars 251 forks source link

Using a previously generated map for localization (Python) #17

Closed JackToaster closed 6 years ago

JackToaster commented 6 years ago

I would like to use BreezySLAM for localization (no mapping) in a known map. In python, the the algorithm classes have the getmap(mapbytes) method which returns a bytearray with the map, but it seems there is no way to do the opposite (set the map to a bytearray). Once the map is set, I would also like to be able to localize in the map without modifying the map, but I can't find a way to do this either.

simondlevy commented 6 years ago

Thanks for the suggestions, Jack. I should be able to get to it this weekend.

simondlevy commented 6 years ago

I've added a a setmap() method, and a should_update_map flag (default=True) to the update() method. I don't have data that would test these modifications, so let me know if you run into difficulty.

JackToaster commented 6 years ago

I just did a few simple tests, and it looks like it works. Thanks!