Simulation Map Generator issues

Has anyone managed to successfully run the Simulation Map Generator app in the Mobile Robotics Training Toolbox? I loaded a png file (tried a jpg, that didn't work either), and the track size. When I select "Map Options/Line Follower", I get the error messages listed below in the main Matlab window. I get the same messages when I switch from Automatic to Manual Threshold mode.

Error using rgb2gray>parse_inputs (line 80) 
MAP must be a m x 3 array. 

Error in rgb2gray (line 52) 
isRGB = parse_inputs(X); 

Error in simMapGenerator/thresholdMap (line 47) 
imgGray = rgb2gray(imgRaw); 

Error in simMapGenerator/thresholdOptionsSelect (line 394) 
app.thresholdMap; 

Error using matlab.ui.control.internal.model.AbstractMutualExclusiveComponent/set.Value (line 166) 
Error while evaluating ButtonGroup SelectionChangedFcn.

[Aman Gupta]

Unable to resolve the name robotics.BinaryOccupancyGrid.

Error in simMapGenerator/exportMapSelect (line 233)

app.simMap = robotics.BinaryOccupancyGrid(compMap,app.scaleFactor);

Error using matlab.ui.control.internal.controller.ComponentController/executeUserCallback (line 382)

Error while evaluating Button PrivateButtonPushedFcn.

[Aman Gupta]

I am getting this error while exporting the map. Can anyone suggest what's wrong

Answer 1

[Sebastian Castro]

The error you linked is a common one that happens when you input a grayscale (M x N) image instead of a color (M x N x 3) image.

Seems like the toolbox assumes all images passed in as color images and tries to use the rgb2gray function regardless of whether the image is already grayscale!

So you have 2 options:

• Short-term fix: Save your images as color images and try again
• Long-term fix: Add logic to the app to handle this.

To fix the code with the long-term fix, here are the steps:

1. Open the app ( edit simMapGenerator.mlapp )
2. Go to the "Code View" section
3. In line 47, you will see the code imgGray = rgb2gray(imgRaw); Change it to this:

if size(imgRaw,3) == 1
    imgGray = imgRaw;
else
    imgGray = rgb2gray(imgRaw);
end

Hope that helps!

- Sebastian

[Mumal Sharma]

Sir , I want to customise the map design in Multi Robot Obstacle Avidance Simulink project discussed by you . Can it be done using Simulation Map Geneartor App .

Kindly suggest and help in customising the Map Design .

Answer 2

[TJHeld]

...and, I answered my own question. I was exporting my image from a pdf through Adobe Acrobat. It was automatically determining the colorspace as grayscale, which apparently the map generator can't handle. Once I forced Acrobat to use an RGB colorspace, the problem was solved.