Re: Modify the 2D map

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Modify-the-2D-map-tp3324p3326.html

Hi,

It depends if the 3D coordinate is in the same coordinate frame (e.g., /map) than the 2D map. If so, you only need to keep (x, y, 0, 0, 0, yaw) and you have the 2d pose.

If you want to translate a cell to a 2D pose in /map frame, look at MapMetaData in the OccupancyGrid msg. You can get the resolution of the map and its orientation/offset with origin field.

cheers,
Mathieu