Karto FAQ - Most recent questions

We've noticed that when we save the .kxd files, the corrected pose fields for the laser scans are full of zeros. Is there a way that we can fill these fields with the corrected poses from Karto's mapper before writing the file to disk?

Wed, 03 Feb 2010 22:00:00 GMT

You have two options:

You can save the file as a state file (which is basically a txt copy of the mapper state, which you can reload at anytime time). The tutorial5.cpp shows you the way to use the function:

WriteState(); The state file is also an XML format.

You can write your own format, by iterating over the mapper graph (this is more advanced), the function to use is GetAllProcessedScans().

Here is some sample code (that might work since it's taken from our new Karto 1.2 release and not the 1.1 you are using)

kt::LocalizedRangeScanVector lrfVector = pMapper->GetAllProcessedScan

    forEach(kt::LocalizedRangeScanVector, &lrfVector)      {

      kt::LocalizedRangeScan* pScan = *iter;

      std::cout << pScan->Time().GetTicks()<< "," <CorrectedPose()).X() << "," << kt::Pose2(pScan->CorrectedPose()).Y() << "," << kt::Pose2(pScan->CorrectedPose()).Heading() <<  std::endl;

Do you plan to support MRDS in the future versions Karto SDK?

Wed, 03 Feb 2010 19:08:00 GMT

The support for MRDS is now only as C# wrappers. We are no longer providing MRDS services. It's up to you to write these services.

Where can I find some sample codes for MRDS in KARTO SDK 1.1?

Wed, 03 Feb 2010 19:04:00 GMT

In Karto 1.1 there is only C# wrappers. We are not providing any integrated example with MDRS anymore.

How can I edit a ktmap file to add more obstacles ?

Tue, 20 Oct 2009 18:08:00 GMT

Karto map format is actually PNG. We put our own extension to make it easier to select maps in our user interface. You can edit any ktmap file using a standard image editing tool (photoshop, pixelmator, gimp, etc..).

You might have to rename the file with a PNG extension to be able to read it properly.

If you want to add any extra obstacle, they need to have the specific color grey (RGB values should be 100,100,100).

I am calling (*LocalizedRangeScan)->GetId.GetSequenceNumber() and it always returns -1.

Thu, 15 Oct 2009 18:29:00 GMT

In Karto 1.1 the GetSequenceNumber() always returns -1 if the scan has not been added to a kt::Dataset. To get around this create a kt::Dataset and add the localized range scan to the dataset.