ros地图的opencv处理（python）

原图：

代码： 

import cv2
import numpy as np
from PIL import Image
import rospy
class optimize:
    def __init__(self):
        rospy.init_node("popo2")


        #==============可调参数========================================================================
        self.pgmPath = rospy.get_param("pgmPath","/home/jjm1/noetic_in/auto/src/auto/map/mypgm.pgm")#文件路径
        self.bias = rospy.get_param(&#