https://blog.csdn.net/ryuali2010/article/details/7797398 pgm格式说明
pgm的头部
PGM文件的格式类型(是P2还是P5);
.图像的宽度;
图像的高度;
.图像灰度值可能的最大值;
resolution: 0.05
origin: [-9.64308, -7.65, 0.0]
negate: 0
occupied_thresh: 0.65 : < 0x41 认为是占用
free_thresh: 0.196 >0xC4 认为是空闲.
FF:纯白 80:未知区域 00:占用
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image : Path to the image file containing the occupancy data; can be absolute, or relative to the location of the YAML file
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PGM 地图文件的路径
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resolution : Resolution of the map, meters / pixel
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地图的分辨率，米/像素
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origin : The 2-D pose of the lower-left pixel in the map, as (x, y, yaw), with yaw as counterclockwise rotation (yaw=0 means no rotation). Many parts of the system currently ignore yaw.
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图中左下角像素的二维位姿为(x, y，偏航)，偏航为逆时针旋转(偏航=0表示无旋转)。目前系统的许多部分都忽略了偏航。
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occupied_thresh : Pixels with occupancy probability greater than this threshold are considered completely occupied. 占用概率大于此阈值的像素被认为已完全占用。
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free_thresh : Pixels with occupancy probability less than this threshold are considered completely free.占用率小于此阈值的像素被认为是完全空闲的
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negate : Whether the white/black free/occupied semantics should be reversed (interpretation of thresholds is unaffected)
- 是否应该颠倒 白自由/黑占用的语义(阈值的解释不受影响)