Centerline Generation Tool

Setup

Use pip to install the requirements, in requirements.txt in a venv.

Configuration

Modify config.yaml to set the correct map_name (not including extension). Then upload the .pgm AND .yaml file of the map to the input/ folder.

Draw Centerline

To manually draw the centerline using this tool, run:

python3 src/draw_centerline.py

Then use the tool to click the waypoints on the map, as you click the interpolated centerline will appear.

• Left-click to place waypoints (in order)
• Right-clikc to delete last waypoint
• i to toggle the green interpolated preview
• c to clear all

Once done, close the window and then it will reopen with the final centerline summary, close again to output the csv (see Output section for more detals)

Generate Centerline Automatically

Currently work in progress, use the manaul option above for a more reliable centerline.

Output

Once done, the .csv file named for the name of the map, will be placed in the output/ folder. The csv contains the (x,y) points for the centerline.

Notes

Can also refer to here for premade .csv files for some maps (like RBR/Spieldberg)