Map Enhancer Wizard (V1)

Map Enhancer Wizard is a tool designed to enhance 2D Occupancy Grid maps, providing users with an easy way to improve the quality and usability of their maps through a user-friendly interface.

This is version 1 of the tool. Future versions will include:

• Additional filters for more versatile map enhancements
• Automation features to streamline the enhancement process
• AI-powered enhancements for intelligent map improvements
• Support for 3D maps

Preview

Dependencies

To use this tool, you need to have the following Python packages installed:

• opencv-python
• pillow
• pyyaml
• numpy

You can install these dependencies using pip:

pip install opencv-python pillow pyyaml numpy

Usage

The main file to run is map_enhancer_wizard.py. To start the wizard, simply execute the following command in your terminal:

python3 map_enhancer_wizard.py

Follow the on-screen instructions to load your 2D Occupancy Grid map and apply enhancements.

The wizard will guide you through the process of enhancing your map, allowing you to choose from available options and preview changes before saving.

• Note: Ensure your 2D Occupancy Grid map is in a compatible format. The tool expects a .yaml file along with its corresponding image file (e.g., .pgm). Basically, you’ll need to double-click and select the folder that contains both the .yaml and image file of your map.

Examples

Below are example collages demonstrating the enhancement results. Each collage includes four images: two showing the occupancy map before and after enhancement, and two showing the corresponding cost maps before and after enhancement.

Example 1

Example 2

Example 3

Limitations and Known Issues

As this is version 1, there are some limitations:

• Limited set of enhancement filters
• Only supports 2D Occupancy Grid maps
• No automation or AI features yet
• May not handle very large maps efficiently

If you encounter any issues or have suggestions for future versions, please open an issue on the GitHub repository.

Contributing

Contributions are welcome! If you'd like to add new features, fix bugs, or improve the documentation, please fork the repository and submit a pull request.

Please ensure your code follows the project's coding standards and includes appropriate tests.

Support

If you have any questions, please let me know: a.pahlevani1998@gmail.com

• Also, please don't forget to check out our website at: https://www.SLAMbotics.org

Please stay tuned for the next versions of the app.