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Map Align Tool

A tool used for aligning occupancy grid maps to x and y axis. Uses the Hough transform algorithm to calculate the angles of two dominating axes and returns the correction angle.

fig2

By squaring the hough space intensities and summing the column we get the intensity of each angle. Then By offsetting the intensities by 90 degrees and adding them to the original intensities, we get positive interference on the two main axes.

fig1

Usage

map_align path_to_map_yaml

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