15 lines
654 B
Plaintext
15 lines
654 B
Plaintext
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# Header
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float64 stamp # timestamp
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string frame_id # world frame id
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# Map info
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float32 resolution # The map resolution [m/cell]
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uint32 width # Map width along x-axis [cells]
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uint32 height # Map height alonge y-axis [cells]
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float32[2] origin # Map frame origin xy-position [m], the xyz-axis direction of map frame is aligned with the world frame
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# Map data, in x-major order, starting with [0,0], ending with [width, height]
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# For a cell whose 2d-array-index is [ix, iy]，
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# its position in world frame is: [ix * resolution + origin[0], iy * resolution + origin[1]]
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# its cell value is: data[width * iy + ix]
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float32[] data
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