The newer version is available here: https://github.com/KumarRobotics/kr_param_map
This repo is under construction. For mini-project users, you can directly use it.
roslaunch param_env structure_map.launch
You can adjust the approximate ratio of each element (overlapping is also counting now) in the launch file
<param name="map/cylinder_ratio" value="0.10" type="double"/>
<param name="map/circle_ratio" value="0.02" type="double"/>
<param name="map/gate_ratio" value="0.02" type="double"/>
<param name="map/ellip_ratio" value="0.02" type="double"/>
<param name="map/poly_ratio" value="0.01" type="double"/>
Examples:
