Map Annotator

A prototype tool for segmenting indoor maps and generating a zone graph. The project can also produce PDDL descriptions of the resulting graph for robotic planning experiments.

Dependencies

The application depends on OpenCV and yaml-cpp. On Debian/Ubuntu systems they can be installed with:

sudo apt-get install libopencv-dev libyaml-cpp-dev

Building

mkdir build
cd build
cmake ..
make

If CMake cannot find OpenCV or yaml-cpp make sure the development packages are installed and that the libraries are discoverable via CMAKE_PREFIX_PATH or the OpenCV_DIR/YAML_CPP_DIR variables.

Usage

./mapannotator <map.pgm> [config.yaml]

The program expects a grayscale map image in .pgm format and an optional YAML configuration. It outputs diagnostic information, generates a PDDL problem file and creates visual previews of the computed zones.

Repository structure

• segmentation/ – image processing and segmentation routines
• mapgraph/ – zone graph data structures and visualisation helpers
• pddl/ – utilities for generating PDDL from the graph
• config/ – example classification rules

License

This project is distributed under the terms of the MIT license. See LICENSE for details.

ROS 2 Integration

When ROS 2 and the required message packages are available the project can be built with an additional node that consumes a nav_msgs/OccupancyGrid and publishes the generated PDDL.

The node subscribes to /map by default and publishes to /pddl/map. Example build and run steps:

mkdir build && cd build
cmake ..
make mapannotator_ros2
ros2 run mapannotator mapannotator_ros2