occ-grid

Generate the occupancy grid map of the floorplan

Usage:

floorplan generate occ-grid [OPTIONS]

Options

Optional

  • --laser-height (FLOAT) Height of the laser to generate the occupancy grid. Default: 0.7
  • --border (INT) Border the occupancy grid image file. Default: 50
  • --resolution (FLOAT) Resolution of the pgm file in m/pixel. Default: 0.05
  • --occupied-threshold (FLOAT) Probability of a pixel at which a cell is considered occupied. Default: 0.65
  • --free-threshold (FLOAT) Probability of a pixel at which a cell is considered free. Default: 0.196
  • --negate (INT) Whether the occupied/free/unknown semantics of the occupancy grid should be reversed.
  • --unknown-value (INT) Value for cells to be considered unknown in the occupancy grid. Default: 200
  • --occupied-value (INT) Value for cells to be considered occupied in the occupancy map.
  • --free-value (INT) Value for cells to be considered free in the occupancy map. Default: 255