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doc:create_and_load_a_semantic_map [2014/11/26 20:13] – [Create and load a semantic map] admin | doc:create_and_load_a_semantic_map [2014/11/26 20:27] – [Create and load a semantic map] admin | ||
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===== Create your semantic map ===== | ===== Create your semantic map ===== | ||
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==== Semantic Map Editor ==== | ==== Semantic Map Editor ==== | ||
- | The [[Semantic Map Editor]] is a graphical editor for semantic maps. It can be used to create object instances and to set their positions. | + | The [[Semantic Map Editor]] is a graphical editor for semantic maps. It can be used to create object instances and to set their positions. The current version is rather specific for indoor environments though and, for example, offers only a limited set of object types to be added to the map. You can easily adapt the list of classes in the source code, but this cannot conveniently be configured at the moment. |
==== SemanticMapToOWL ==== | ==== SemanticMapToOWL ==== | ||
- | If you already have a map datastructure and would like to create a semantic map from your program, you can use the SemanticMapToOWL ROS service described here: http:// | ||
- | The object types in the semantic map message need to correspond to the object classes in KnowRob. | + | If you already have a map datastructure and would like to create a semantic map from your program, |
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==== Robot perception system ==== | ==== Robot perception system ==== | ||
- | If you have [[/ | + | If you have [[/ |
==== Manual creation of the OWL file ==== | ==== Manual creation of the OWL file ==== | ||
- | In some cases, it may actually be the fastest to create the map manually in a good text editor in which you can copy and paste the object instances and their pose matrices. Especially if you would like to set many semantic object properties beyond their poses, this may be a good option. If you plan to do this, you should have well understood [[object pose representation|how object poses are represented in KnowRob]]. | + | In some cases, it may actually be the fastest to create the map manually in a good text editor in which you can copy and paste the object instances and their pose matrices. Especially if you would like to set many semantic object properties beyond their poses, this may be a good option. If you plan to do this, you should have well understood [[/ |
===== Load the map into KnowRob ===== | ===== Load the map into KnowRob ===== | ||
- | To make the map available for querying and inference in KnowRob, you just need to parse the OWL file. You can either do this manually after having started the KnowRob shell using the // | + | To make the map available for querying and inference in KnowRob, you just need to parse the OWL file. You can either do this manually after having started the KnowRob shell using the // |
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