From: Rehman M. <rsm...@gm...> - 2010-03-13 00:59:03
|
Hi, I'm using Player 2.1.2 and Stage 3.1.0. My goal is to input an image as a map to stage, drive the robot around, while recording perfect laser data and perfect localization (gps). Then use that data to re-create the original image (with pixel accuracy). I created simple 500x500 pixel image - all white with a 1-pixel black border and a 50-pixel black square in the middle. I set "boundary 0" so stage doesn't add its own boundary. When I load that map, the black border only shows up on the top, left, and right - no boarder on the bottom. Also, the square in the middle is not centred. It is centred in the x-direction, but shifted down a bit in the y-direction. Any clues as to why? Thank you!, Rehman |
From: Shane H. <sha...@st...> - 2010-03-13 03:10:01
|
Can you output your world file with the relevant map code? Shane ________________________________________ From: Rehman Merali [rsm...@gm...] Sent: Saturday, 13 March 2010 8:58 AM To: pla...@li... Subject: [Playerstage-users] Stage: Image to Map Hi, I'm using Player 2.1.2 and Stage 3.1.0. My goal is to input an image as a map to stage, drive the robot around, while recording perfect laser data and perfect localization (gps). Then use that data to re-create the original image (with pixel accuracy). I created simple 500x500 pixel image - all white with a 1-pixel black border and a 50-pixel black square in the middle. I set "boundary 0" so stage doesn't add its own boundary. When I load that map, the black border only shows up on the top, left, and right - no boarder on the bottom. Also, the square in the middle is not centred. It is centred in the x-direction, but shifted down a bit in the y-direction. Any clues as to why? Thank you!, Rehman ------------------------------------------------------------------------------ Download Intel® Parallel Studio Eval Try the new software tools for yourself. Speed compiling, find bugs proactively, and fine-tune applications for parallel performance. See why Intel Parallel Studio got high marks during beta. http://p.sf.net/sfu/intel-sw-dev _______________________________________________ Playerstage-users mailing list Pla...@li... https://lists.sourceforge.net/lists/listinfo/playerstage-users |
From: Rehman M. <rsm...@gm...> - 2010-03-13 04:21:24
|
Sure, see my world file below. Note that "map.inc" has been modified to "boundary 0" as previously mentioned (but the problem is still evident without the modification). ~~~~~BEGIN WORLD FILE~~~~~ include "pioneer.inc" include "map.inc" include "sick.inc" interval_sim 100 # simulation timestep in milliseconds interval_real 1 # real-time interval between simulation updates in milliseconds paused 0 # configure the GUI window window ( size [ 500.000 500.000 ] # in pixels scale 25 # pixels per meter show_data 1 # 1=on 0=off ) # load an environment bitmap floorplan ( name "cave" size [20 20 0.8] bitmap "bitmaps/square.png" ) pioneer2dx ( name "pioneer" pose [ 0 0 0 0 ] actuator ( sicklaser() # actuator properties type "rotational" axis [0 0 1] min_position 0 max_position 6.2835 max_speed 1.0 color "green" size [ 0.22 0.19 0.19 ] ) ) ~~~~~~END WORLD FILE~~~~~ Thank you, Rehman Shane Husson wrote: > > Can you output your world file with the relevant map code? > > Shane > ________________________________________ > From: Rehman Merali [rsm...@gm...] > Sent: Saturday, 13 March 2010 8:58 AM > To: pla...@li... > Subject: [Playerstage-users] Stage: Image to Map > > Hi, > > I'm using Player 2.1.2 and Stage 3.1.0. My goal is to input an image > as a map to stage, drive the robot around, while recording perfect > laser data and perfect localization (gps). Then use that data to > re-create the original image (with pixel accuracy). > I created simple 500x500 pixel image - all white with a 1-pixel black > border and a 50-pixel black square in the middle. I set "boundary 0" > so stage doesn't add its own boundary. > When I load that map, the black border only shows up on the top, left, > and right - no boarder on the bottom. Also, the square in the middle > is not centred. It is centred in the x-direction, but shifted down a > bit in the y-direction. Any clues as to why? > > Thank you!, > Rehman > > ------------------------------------------------------------------------------ > Download Intel® Parallel Studio Eval > Try the new software tools for yourself. Speed compiling, find bugs > proactively, and fine-tune applications for parallel performance. > See why Intel Parallel Studio got high marks during beta. > http://p.sf.net/sfu/intel-sw-dev > _______________________________________________ > Playerstage-users mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-users > > ------------------------------------------------------------------------------ > Download Intel® Parallel Studio Eval > Try the new software tools for yourself. Speed compiling, find bugs > proactively, and fine-tune applications for parallel performance. > See why Intel Parallel Studio got high marks during beta. > http://p.sf.net/sfu/intel-sw-dev > _______________________________________________ > Playerstage-users mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-users > > -- View this message in context: http://old.nabble.com/Stage%3A-Image-to-Map-tp27884718p27885569.html Sent from the playerstage-users mailing list archive at Nabble.com. |
From: Vitalijs K. <vit...@gm...> - 2010-03-14 14:24:34
|
Hi! I had same problem with my bitmaps. It seems Stage does not render last row of pixels of bitmap in Y dirrection. Try to draw bottom border 2 px wide or skip single row from bottom. Best regards, Vitalijs 2010/3/13 Rehman Merali <rsm...@gm...> > > Sure, see my world file below. Note that "map.inc" has been modified to > "boundary 0" as previously mentioned (but the problem is still evident > without the modification). > > ~~~~~BEGIN WORLD FILE~~~~~ > > include "pioneer.inc" > include "map.inc" > include "sick.inc" > > interval_sim 100 # simulation timestep in milliseconds > interval_real 1 # real-time interval between simulation updates in > milliseconds > > paused 0 > > # configure the GUI window > window > ( > size [ 500.000 500.000 ] # in pixels > scale 25 # pixels per meter > show_data 1 # 1=on 0=off > ) > > # load an environment bitmap > floorplan > ( > name "cave" > size [20 20 0.8] > bitmap "bitmaps/square.png" > ) > > pioneer2dx > ( > name "pioneer" > pose [ 0 0 0 0 ] > > actuator > ( > sicklaser() > # actuator properties > type "rotational" > axis [0 0 1] > > min_position 0 > max_position 6.2835 > max_speed 1.0 > color "green" > size [ 0.22 0.19 0.19 ] > ) > ) > ~~~~~~END WORLD FILE~~~~~ > > > Thank you, > Rehman > > > > > Shane Husson wrote: > > > > Can you output your world file with the relevant map code? > > > > Shane > > ________________________________________ > > From: Rehman Merali [rsm...@gm...] > > Sent: Saturday, 13 March 2010 8:58 AM > > To: pla...@li... > > Subject: [Playerstage-users] Stage: Image to Map > > > > Hi, > > > > I'm using Player 2.1.2 and Stage 3.1.0. My goal is to input an image > > as a map to stage, drive the robot around, while recording perfect > > laser data and perfect localization (gps). Then use that data to > > re-create the original image (with pixel accuracy). > > I created simple 500x500 pixel image - all white with a 1-pixel black > > border and a 50-pixel black square in the middle. I set "boundary 0" > > so stage doesn't add its own boundary. > > When I load that map, the black border only shows up on the top, left, > > and right - no boarder on the bottom. Also, the square in the middle > > is not centred. It is centred in the x-direction, but shifted down a > > bit in the y-direction. Any clues as to why? > > > > Thank you!, > > Rehman > > > > > ------------------------------------------------------------------------------ > > Download Intel® Parallel Studio Eval > > Try the new software tools for yourself. Speed compiling, find bugs > > proactively, and fine-tune applications for parallel performance. > > See why Intel Parallel Studio got high marks during beta. > > http://p.sf.net/sfu/intel-sw-dev > > _______________________________________________ > > Playerstage-users mailing list > > Pla...@li... > > https://lists.sourceforge.net/lists/listinfo/playerstage-users > > > > > ------------------------------------------------------------------------------ > > Download Intel® Parallel Studio Eval > > Try the new software tools for yourself. Speed compiling, find bugs > > proactively, and fine-tune applications for parallel performance. > > See why Intel Parallel Studio got high marks during beta. > > http://p.sf.net/sfu/intel-sw-dev > > _______________________________________________ > > Playerstage-users mailing list > > Pla...@li... > > https://lists.sourceforge.net/lists/listinfo/playerstage-users > > > > > > -- > View this message in context: > http://old.nabble.com/Stage%3A-Image-to-Map-tp27884718p27885569.html > Sent from the playerstage-users mailing list archive at Nabble.com. > > > > ------------------------------------------------------------------------------ > Download Intel® Parallel Studio Eval > Try the new software tools for yourself. Speed compiling, find bugs > proactively, and fine-tune applications for parallel performance. > See why Intel Parallel Studio got high marks during beta. > http://p.sf.net/sfu/intel-sw-dev > _______________________________________________ > Playerstage-users mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-users > |
From: Richard V. <rtv...@gm...> - 2010-03-14 19:28:57
|
I had a (very) quick look at the relevant code in libstage/image.cc line 82, and nothing jumps out at me. I'd be happy to hear if anyone can spot the problem. Richard/ On Sun, Mar 14, 2010 at 6:24 AM, Vitalijs Komasilovs <vit...@gm...> wrote: > Hi! > I had same problem with my bitmaps. It seems Stage does not render last row > of pixels of bitmap in Y dirrection. > Try to draw bottom border 2 px wide or skip single row from bottom. > Best regards, > Vitalijs > 2010/3/13 Rehman Merali <rsm...@gm...> >> >> Sure, see my world file below. Note that "map.inc" has been modified to >> "boundary 0" as previously mentioned (but the problem is still evident >> without the modification). >> >> ~~~~~BEGIN WORLD FILE~~~~~ >> >> include "pioneer.inc" >> include "map.inc" >> include "sick.inc" >> >> interval_sim 100 # simulation timestep in milliseconds >> interval_real 1 # real-time interval between simulation updates in >> milliseconds >> >> paused 0 >> >> # configure the GUI window >> window >> ( >> size [ 500.000 500.000 ] # in pixels >> scale 25 # pixels per meter >> show_data 1 # 1=on 0=off >> ) >> >> # load an environment bitmap >> floorplan >> ( >> name "cave" >> size [20 20 0.8] >> bitmap "bitmaps/square.png" >> ) >> >> pioneer2dx >> ( >> name "pioneer" >> pose [ 0 0 0 0 ] >> >> actuator >> ( >> sicklaser() >> # actuator properties >> type "rotational" >> axis [0 0 1] >> >> min_position 0 >> max_position 6.2835 >> max_speed 1.0 >> color "green" >> size [ 0.22 0.19 0.19 ] >> ) >> ) >> ~~~~~~END WORLD FILE~~~~~ >> >> >> Thank you, >> Rehman >> >> >> >> >> Shane Husson wrote: >> > >> > Can you output your world file with the relevant map code? >> > >> > Shane >> > ________________________________________ >> > From: Rehman Merali [rsm...@gm...] >> > Sent: Saturday, 13 March 2010 8:58 AM >> > To: pla...@li... >> > Subject: [Playerstage-users] Stage: Image to Map >> > >> > Hi, >> > >> > I'm using Player 2.1.2 and Stage 3.1.0. My goal is to input an image >> > as a map to stage, drive the robot around, while recording perfect >> > laser data and perfect localization (gps). Then use that data to >> > re-create the original image (with pixel accuracy). >> > I created simple 500x500 pixel image - all white with a 1-pixel black >> > border and a 50-pixel black square in the middle. I set "boundary 0" >> > so stage doesn't add its own boundary. >> > When I load that map, the black border only shows up on the top, left, >> > and right - no boarder on the bottom. Also, the square in the middle >> > is not centred. It is centred in the x-direction, but shifted down a >> > bit in the y-direction. Any clues as to why? >> > >> > Thank you!, >> > Rehman >> > >> > >> > ------------------------------------------------------------------------------ >> > Download Intel® Parallel Studio Eval >> > Try the new software tools for yourself. Speed compiling, find bugs >> > proactively, and fine-tune applications for parallel performance. >> > See why Intel Parallel Studio got high marks during beta. >> > http://p.sf.net/sfu/intel-sw-dev >> > _______________________________________________ >> > Playerstage-users mailing list >> > Pla...@li... >> > https://lists.sourceforge.net/lists/listinfo/playerstage-users >> > >> > >> > ------------------------------------------------------------------------------ >> > Download Intel® Parallel Studio Eval >> > Try the new software tools for yourself. Speed compiling, find bugs >> > proactively, and fine-tune applications for parallel performance. >> > See why Intel Parallel Studio got high marks during beta. >> > http://p.sf.net/sfu/intel-sw-dev >> > _______________________________________________ >> > Playerstage-users mailing list >> > Pla...@li... >> > https://lists.sourceforge.net/lists/listinfo/playerstage-users >> > >> > >> >> -- >> View this message in context: >> http://old.nabble.com/Stage%3A-Image-to-Map-tp27884718p27885569.html >> Sent from the playerstage-users mailing list archive at Nabble.com. >> >> >> >> ------------------------------------------------------------------------------ >> Download Intel® Parallel Studio Eval >> Try the new software tools for yourself. Speed compiling, find bugs >> proactively, and fine-tune applications for parallel performance. >> See why Intel Parallel Studio got high marks during beta. >> http://p.sf.net/sfu/intel-sw-dev >> _______________________________________________ >> Playerstage-users mailing list >> Pla...@li... >> https://lists.sourceforge.net/lists/listinfo/playerstage-users > > ------------------------------------------------------------------------------ > Download Intel® Parallel Studio Eval > Try the new software tools for yourself. Speed compiling, find bugs > proactively, and fine-tune applications for parallel performance. > See why Intel Parallel Studio got high marks during beta. > http://p.sf.net/sfu/intel-sw-dev > _______________________________________________ > Playerstage-users mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-users > > -- Richard Vaughan Autonomy Lab / Computing Science / Simon Fraser University |
From: alex <ale...@mo...> - 2010-03-15 11:02:25
|
Rehman Merali wrote: > Hi, > > I'm using Player 2.1.2 and Stage 3.1.0. My goal is to input an image > as a map to stage, drive the robot around, while recording perfect > laser data and perfect localization (gps). Then use that data to > re-create the original image (with pixel accuracy). > I created simple 500x500 pixel image - all white with a 1-pixel black > border and a 50-pixel black square in the middle. I set "boundary 0" > so stage doesn't add its own boundary. > When I load that map, the black border only shows up on the top, left, > and right - no boarder on the bottom. Also, the square in the middle > is not centred. It is centred in the x-direction, but shifted down a > bit in the y-direction. Any clues as to why? No solution for you, sorry, but this is an old problem. It's much more apparent when using small bitmaps highly zoomed-in (I did this for some synthetic simulations). In the end what I did was to add an extra Y row to the bitmaps. > > Thank you!, > Rehman > > ------------------------------------------------------------------------------ > Download Intel® Parallel Studio Eval > Try the new software tools for yourself. Speed compiling, find bugs > proactively, and fine-tune applications for parallel performance. > See why Intel Parallel Studio got high marks during beta. > http://p.sf.net/sfu/intel-sw-dev |