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PixMapLoader [Components, Stand-Alone Components, C++, Linux, QNX] Serves an pixel-based grid map which is loaded from an image file. More... Provides Home PixMap [PixMapLoader.Provides.PixMap] Status Requires none Drivers fake Serves a bogus made-up map. file Loads an occupancy grid map from a file. Operation Supportes file types are: most image formats anything qt can load: .png .bmp .jpg .jpeg .ppm .xbm .xpm Clients who wish to receive the map should call getData(). This component will only ever issue one update to subscribers: on initialisation. Configuration PixMapLoader.Config.Driver (string) Which map loader to use Valid values: { "file", "fake" } Default: "file" PixMapLoader.Config.Filename (string) The name (and path) of the image to load Default: "mapfile.png" Map Geometry (see OgMap for a detailed explanation) World Size (float,float) [m] PixMapLoader.Config.Size.X PixMapLoader.Config.Size.Y Map Origin with respect to the (arbitrarily defined) global coordinate system (float,float,float) [m,m,deg] PixMapLoader.Config.Offset.X PixMapLoader.Config.Offset.Y PixMapLoader.Config.Offset.Orientation Ice might throw the following exception: IceUtil::Thread::run(): uncaught exception: TcpTransceiver.cpp:217: Ice::ConnectionLostException: connection lost: recv() returned zero Ice has a default maximum object size that can be communicated between components of 1024 bytes. If the pixmap exceeds this limit you must add in the following extra configuration line to both the pixmaploader.cfg and icebox_icestorm.cfg files: ... Ice.MessageSizeMax=3000 Remember also to add this line to all configuration files of pixmap clients, e.g. OrcaView2d. Dependancies Qt GUI library >= v.4.1 developer Tobias Kaupp (t.kaupp at cas.edu.au)

Webmaster: Tobias Kaupp (tobasco at users.sourceforge.net)

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