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Map-Alignment-2D

This package has been developed for 2D Map Alignment With Region Decomposition. Details of the method are presented in the following publication.

S. G. Shahbandi, M. Magnusson, "2D Map Alignment With Region Decomposition", submitted to Autonomous Robots, 2017.

Dependencies and Download

Download, installing dependencies, and install package

# Download
git clone https://github.com/saeedghsh/Map-Alignment-2D.git
cd Map-Alignment-2D

# Install dependencies
pip install -r requirements.txt
<!-- pip3 install -r requirements.txt -->

# Install the package [optional]
python setup.py install
<!-- python3 setup.py install -->

Most dependencies are listed in requirements.txt. But there are three more, namely opencv, Polygon and arrangement, which should be installed separately.

Usage Example

For simplicity and convenience, we assume both maps are provided as bitmap (occupancy grid maps). For more examples, see Halmstad Map Collection.

  • Demo
python demo.py --img_src 'tests/maps/map_src.png' --img_dst 'tests/maps/map_dst.png' -multiprocessing -visualize

example

License

Distributed with a GNU GENERAL PUBLIC LICENSE; see LICENSE.

Copyright (C) Saeed Gholami Shahbandi <saeed.gh.sh@gmail.com>

Laundry List

  • dump unused methods from mapali and plotting.
  • api documentation.
  • full test suite.
  • profile for speed-up.
  • python3 compatible.