Tools for 2D maps
Project description
pymap2d
Map2D is a simple python 2D gridmap class, able to load 2d maps from ROS .yaml/.pgm maps.
Map2D provides:
- simple xy <-> ij coordinate conversions,
- implementation of the dijkstra algorithm.
- 2D ESDF calculation
CMap2D is a Cython-based performance optimized version of Map2D, providing fast 2D ESDF calculation from occupancy grids.
Dependency: Cython
$ pip install Cython
Installation:
Inside this project root folder:
$ pip install .
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