void GridMapRosConverter::toMessage(const grid_map::GridMap& gridMap, const std::vector<std::string>& layers,
grid_map_msgs::GridMap& message)
{
message.info.header.stamp.fromNSec(gridMap.getTimestamp());
message.info.header.frame_id = gridMap.getFrameId();
message.info.resolution = gridMap.getResolution();
message.info.length_x = gridMap.getLength().x();
message.info.length_y = gridMap.getLength().y();
message.info.pose.position.x = gridMap.getPosition().x();
message.info.pose.position.y = gridMap.getPosition().y();
message.info.pose.position.z = 0.0;
message.info.pose.orientation.x = 0.0;
message.info.pose.orientation.y = 0.0;
message.info.pose.orientation.z = 0.0;
message.info.pose.orientation.w = 1.0;
message.layers = layers;
message.basic_layers = gridMap.getBasicLayers();
message.data.clear();
for (const auto& layer : layers) {
std_msgs::Float32MultiArray dataArray;
matrixEigenCopyToMultiArrayMessage(gridMap.get(layer), dataArray);
message.data.push_back(dataArray);
}
message.outer_start_index = gridMap.getStartIndex()(0);
message.inner_start_index = gridMap.getStartIndex()(1);
}
void ElevationChangeDetection::computeElevationChange(grid_map::GridMap& elevationMap)
{
elevationMap.add("elevation_change", elevationMap.get(layer_));
elevationMap.clear("elevation_change");
for (GridMapIterator iterator(elevationMap);
!iterator.isPastEnd(); ++iterator) {
// Check if elevation map has valid value
if (!elevationMap.isValid(*iterator, layer_)) continue;
double height = elevationMap.at(layer_, *iterator);
// Get the ground truth height
Vector2d position, groundTruthPosition;
Array2i groundTruthIndex;
elevationMap.getPosition(*iterator, position);
groundTruthMap_.getIndex(position, groundTruthIndex);
if (!groundTruthMap_.isValid(groundTruthIndex, layer_)) continue;
double groundTruthHeight = groundTruthMap_.at(layer_, groundTruthIndex);
// Add to elevation change map
double diffElevation = std::abs(height - groundTruthHeight);
if (diffElevation <= threshold_) continue;
elevationMap.at("elevation_change", *iterator) = diffElevation;
}
}
void ElevationVisualization::visualize(
const grid_map::GridMap& map,
const std::string& typeNameElevation,
const std::string& typeNameColor,
const float lowerValueBound,
const float upperValueBound)
{
// Set marker info.
marker_.header.frame_id = map.getFrameId();
marker_.header.stamp.fromNSec(map.getTimestamp());
marker_.scale.x = map.getResolution();
marker_.scale.y = map.getResolution();
// Clear points.
marker_.points.clear();
marker_.colors.clear();
float markerHeightOffset = static_cast<float>(markerHeight_/2.0);
const Eigen::Array2i buffSize = map.getBufferSize();
const Eigen::Array2i buffStartIndex = map.getBufferStartIndex();
const bool haveColor = map.isType("color");
for (unsigned int i = 0; i < buffSize(0); ++i)
{
for (unsigned int j = 0; j < buffSize(1); ++j)
{
// Getting map data.
const Eigen::Array2i cellIndex(i, j);
const Eigen::Array2i buffIndex =
grid_map_lib::getBufferIndexFromIndex(cellIndex, buffSize, buffStartIndex);
const float& elevation = map.at(typeNameElevation, buffIndex);
if(std::isnan(elevation))
continue;
const float color = haveColor ? map.at(typeNameColor, buffIndex) : lowerValueBound;
// Add marker point.
Eigen::Vector2d position;
map.getPosition(buffIndex, position);
geometry_msgs::Point point;
point.x = position.x();
point.y = position.y();
point.z = elevation - markerHeightOffset;
marker_.points.push_back(point);
// Add marker color.
if(haveColor)
{
std_msgs::ColorRGBA markerColor =
grid_map_visualization::color_utils::interpolateBetweenColors(
color, lowerValueBound, upperValueBound, lowerColor_, upperColor_);
marker_.colors.push_back(markerColor);
}
}
}
markerPublisher_.publish(marker_);
}
void FillPolygonAreas(grid_map::GridMap &out_grid_map, const std::vector<std::vector<geometry_msgs::Point>> &in_area_points,
const std::string &in_grid_layer_name, const int in_layer_background_value,
const int in_layer_min_value, const int in_fill_color, const int in_layer_max_value,
const std::string &in_tf_target_frame, const std::string &in_tf_source_frame,
const tf::TransformListener &in_tf_listener)
{
if(!out_grid_map.exists(in_grid_layer_name))
{
out_grid_map.add(in_grid_layer_name);
}
out_grid_map[in_grid_layer_name].setConstant(in_layer_background_value);
cv::Mat original_image;
grid_map::GridMapCvConverter::toImage<unsigned char, 1>(out_grid_map,
in_grid_layer_name,
CV_8UC1,
in_layer_min_value,
in_layer_max_value,
original_image);
cv::Mat filled_image = original_image.clone();
tf::StampedTransform tf = FindTransform(in_tf_target_frame, in_tf_source_frame, in_tf_listener);
// calculate out_grid_map position
grid_map::Position map_pos = out_grid_map.getPosition();
double origin_x_offset = out_grid_map.getLength().x() / 2.0 - map_pos.x();
double origin_y_offset = out_grid_map.getLength().y() / 2.0 - map_pos.y();
for (const auto &points : in_area_points)
{
std::vector<cv::Point> cv_points;
for (const auto &p : points)
{
// transform to GridMap coordinate
geometry_msgs::Point tf_point = TransformPoint(p, tf);
// coordinate conversion for cv image
double cv_x = (out_grid_map.getLength().y() - origin_y_offset - tf_point.y) / out_grid_map.getResolution();
double cv_y = (out_grid_map.getLength().x() - origin_x_offset - tf_point.x) / out_grid_map.getResolution();
cv_points.emplace_back(cv::Point(cv_x, cv_y));
}
cv::fillConvexPoly(filled_image, cv_points.data(), cv_points.size(), cv::Scalar(in_fill_color));
}
// convert to ROS msg
grid_map::GridMapCvConverter::addLayerFromImage<unsigned char, 1>(filled_image,
in_grid_layer_name,
out_grid_map,
in_layer_min_value,
in_layer_max_value);
}
bool LineIterator::initialize(const grid_map::GridMap& gridMap, const Index& start, const Index& end)
{
start_ = start;
end_ = end;
mapLength_ = gridMap.getLength();
mapPosition_ = gridMap.getPosition();
resolution_ = gridMap.getResolution();
bufferSize_ = gridMap.getSize();
bufferStartIndex_ = gridMap.getStartIndex();
initializeIterationParameters();
return true;
}
PolygonIterator::PolygonIterator(const grid_map::GridMap& gridMap, const grid_map::Polygon& polygon)
: polygon_(polygon)
{
mapLength_ = gridMap.getLength();
mapPosition_ = gridMap.getPosition();
resolution_ = gridMap.getResolution();
bufferSize_ = gridMap.getSize();
bufferStartIndex_ = gridMap.getStartIndex();
Index submapStartIndex;
Size submapBufferSize;
findSubmapParameters(polygon, submapStartIndex, submapBufferSize);
internalIterator_ = std::shared_ptr<SubmapIterator>(new SubmapIterator(gridMap, submapStartIndex, submapBufferSize));
if(!isInside()) ++(*this);
}
SpiralIterator::SpiralIterator(const grid_map::GridMap& gridMap, const Eigen::Vector2d& center,
const double radius)
: center_(center),
radius_(radius),
distance_(0)
{
radiusSquare_ = radius_ * radius_;
mapLength_ = gridMap.getLength();
mapPosition_ = gridMap.getPosition();
resolution_ = gridMap.getResolution();
bufferSize_ = gridMap.getSize();
gridMap.getIndex(center_, indexCenter_);
nRings_ = std::ceil(radius_ / resolution_);
if (checkIfIndexWithinRange(indexCenter_, bufferSize_)) pointsRing_.push_back(indexCenter_);
else generateRing();
}
bool GridMapRosConverter::fromOccupancyGrid(const nav_msgs::OccupancyGrid& occupancyGrid,
const std::string& layer, grid_map::GridMap& gridMap)
{
const Size size(occupancyGrid.info.width, occupancyGrid.info.height);
const double resolution = occupancyGrid.info.resolution;
const Length length = resolution * size.cast<double>();
const string& frameId = occupancyGrid.header.frame_id;
Position position(occupancyGrid.info.origin.position.x, occupancyGrid.info.origin.position.y);
// Different conventions of center of map.
position += 0.5 * length.matrix();
const auto& orientation = occupancyGrid.info.origin.orientation;
if (orientation.w != 1.0 && !(orientation.x == 0 && orientation.y == 0
&& orientation.z == 0 && orientation.w == 0)) {
ROS_WARN_STREAM("Conversion of occupancy grid: Grid maps do not support orientation.");
ROS_INFO_STREAM("Orientation of occupancy grid: " << endl << occupancyGrid.info.origin.orientation);
return false;
}
if (size.prod() != occupancyGrid.data.size()) {
ROS_WARN_STREAM("Conversion of occupancy grid: Size of data does not correspond to width * height.");
return false;
}
if ((gridMap.getSize() != size).any() || gridMap.getResolution() != resolution
|| (gridMap.getLength() != length).any() || gridMap.getPosition() != position
|| gridMap.getFrameId() != frameId || !gridMap.getStartIndex().isZero()) {
gridMap.setTimestamp(occupancyGrid.header.stamp.toNSec());
gridMap.setFrameId(frameId);
gridMap.setGeometry(length, resolution, position);
}
// Reverse iteration is required because of different conventions
// between occupancy grid and grid map.
grid_map::Matrix data(size(0), size(1));
for (std::vector<int8_t>::const_reverse_iterator iterator = occupancyGrid.data.rbegin();
iterator != occupancyGrid.data.rend(); ++iterator) {
size_t i = std::distance(occupancyGrid.data.rbegin(), iterator);
data(i) = *iterator != -1 ? *iterator : NAN;
}
gridMap.add(layer, data);
return true;
}
void GridMapRosConverter::toGridCells(const grid_map::GridMap& gridMap, const std::string& layer,
float lowerThreshold, float upperThreshold,
nav_msgs::GridCells& gridCells)
{
gridCells.header.frame_id = gridMap.getFrameId();
gridCells.header.stamp.fromNSec(gridMap.getTimestamp());
gridCells.cell_width = gridMap.getResolution();
gridCells.cell_height = gridMap.getResolution();
for (GridMapIterator iterator(gridMap); !iterator.isPastEnd(); ++iterator) {
if (!gridMap.isValid(*iterator, layer)) continue;
if (gridMap.at(layer, *iterator) >= lowerThreshold
&& gridMap.at(layer, *iterator) <= upperThreshold) {
Position position;
gridMap.getPosition(*iterator, position);
geometry_msgs::Point point;
point.x = position.x();
point.y = position.y();
gridCells.cells.push_back(point);
}
}
}
void GridMapRosConverter::toOccupancyGrid(const grid_map::GridMap& gridMap,
const std::string& layer, float dataMin, float dataMax,
nav_msgs::OccupancyGrid& occupancyGrid)
{
occupancyGrid.header.frame_id = gridMap.getFrameId();
occupancyGrid.header.stamp.fromNSec(gridMap.getTimestamp());
occupancyGrid.info.map_load_time = occupancyGrid.header.stamp; // Same as header stamp as we do not load the map.
occupancyGrid.info.resolution = gridMap.getResolution();
occupancyGrid.info.width = gridMap.getSize()(0);
occupancyGrid.info.height = gridMap.getSize()(1);
Position positionOfOrigin;
getPositionOfDataStructureOrigin(gridMap.getPosition(), gridMap.getLength(), positionOfOrigin);
occupancyGrid.info.origin.position.x = positionOfOrigin.x();
occupancyGrid.info.origin.position.y = positionOfOrigin.y();
occupancyGrid.info.origin.position.z = 0.0;
occupancyGrid.info.origin.orientation.x = 0.0;
occupancyGrid.info.origin.orientation.y = 0.0;
occupancyGrid.info.origin.orientation.z = 1.0; // yes, this is correct.
occupancyGrid.info.origin.orientation.w = 0.0;
occupancyGrid.data.resize(occupancyGrid.info.width * occupancyGrid.info.height);
// Occupancy probabilities are in the range [0,100]. Unknown is -1.
const float cellMin = 0;
const float cellMax = 100;
const float cellRange = cellMax - cellMin;
for (GridMapIterator iterator(gridMap); !iterator.isPastEnd(); ++iterator) {
float value = (gridMap.at(layer, *iterator) - dataMin) / (dataMax - dataMin);
if (isnan(value))
value = -1;
else
value = cellMin + min(max(0.0f, value), 1.0f) * cellRange;
// Occupancy grid claims to be row-major order, but it does not seem that way.
// http://docs.ros.org/api/nav_msgs/html/msg/OccupancyGrid.html.
unsigned int index = get1dIndexFrom2dIndex(iterator.getUnwrappedIndex(), gridMap.getSize(), false);
occupancyGrid.data[index] = value;
}
}
void GridMapRosConverter::toOccupancyGrid(const grid_map::GridMap& gridMap,
const std::string& layer, float dataMin, float dataMax,
nav_msgs::OccupancyGrid& occupancyGrid)
{
occupancyGrid.header.frame_id = gridMap.getFrameId();
occupancyGrid.header.stamp.fromNSec(gridMap.getTimestamp());
occupancyGrid.info.map_load_time = occupancyGrid.header.stamp; // Same as header stamp as we do not load the map.
occupancyGrid.info.resolution = gridMap.getResolution();
occupancyGrid.info.width = gridMap.getSize()(0);
occupancyGrid.info.height = gridMap.getSize()(1);
Position position = gridMap.getPosition() - 0.5 * gridMap.getLength().matrix();
occupancyGrid.info.origin.position.x = position.x();
occupancyGrid.info.origin.position.y = position.y();
occupancyGrid.info.origin.position.z = 0.0;
occupancyGrid.info.origin.orientation.x = 0.0;
occupancyGrid.info.origin.orientation.y = 0.0;
occupancyGrid.info.origin.orientation.z = 0.0;
occupancyGrid.info.origin.orientation.w = 1.0;
size_t nCells = gridMap.getSize().prod();
occupancyGrid.data.resize(nCells);
// Occupancy probabilities are in the range [0,100]. Unknown is -1.
const float cellMin = 0;
const float cellMax = 100;
const float cellRange = cellMax - cellMin;
for (GridMapIterator iterator(gridMap); !iterator.isPastEnd(); ++iterator) {
float value = (gridMap.at(layer, *iterator) - dataMin) / (dataMax - dataMin);
if (isnan(value))
value = -1;
else
value = cellMin + min(max(0.0f, value), 1.0f) * cellRange;
size_t index = getLinearIndexFromIndex(iterator.getUnwrappedIndex(), gridMap.getSize(), false);
// Reverse cell order because of different conventions between occupancy grid and grid map.
occupancyGrid.data[nCells - index - 1] = value;
}
}
void SurfaceVisualization::visualize(
const grid_map::GridMap& map,
const std::string& typeNameSurface,
const std::string& typeNameColor,
const float lowerValueBound,
const float upperValueBound)
{
// Set marker info.
marker_.header.frame_id = map.getFrameId();
marker_.header.stamp.fromNSec(map.getTimestamp());
marker_.scale.x = map.getResolution();
marker_.scale.y = map.getResolution();
// Clear points.
marker_.points.clear();
marker_.colors.clear();
float markerHeightOffset = static_cast<float>(markerHeight_/2.0);
const Eigen::Array2i buffSize = map.getBufferSize();
const Eigen::Array2i buffStartIndex = map.getBufferStartIndex();
const bool haveColor = map.isType("class");
for (unsigned int i = 0; i < buffSize(0); ++i)
{
for (unsigned int j = 0; j < buffSize(1); ++j)
{
// Getting map data.
const Eigen::Array2i cellIndex(i, j);
const Eigen::Array2i buffIndex =
grid_map_lib::getBufferIndexFromIndex(cellIndex, buffSize, buffStartIndex);
const float& elevation = map.at("mu", buffIndex);
const float& class_pred = map.at("class", buffIndex);
int class_number=0;
if(!std::isnan(class_pred))
{
class_number=(int)class_pred;
}
if(std::isnan(elevation))
{
continue;
}
//const float color = haveColor ? 16711680/class_pred : lowerValueBound;
//ROS_INFO_STREAM("class_pred: "<<class_pred <<" int: "<<(int)class_pred);
std_msgs::ColorRGBA surface_color;
surface_color.a = 1.0;
switch (class_number) {
case 1:
//long_grass
surface_color.r = 0.0;
surface_color.g = 1.0;
surface_color.b = 0.0;
break;
case 3:
//cobblestone
surface_color.r = 0.62;
surface_color.g = 0.32;
surface_color.b = 0.17;
break;
case 4:
//gravel
surface_color.r = 0.2;
surface_color.g = 0.2;
surface_color.b = 0.2;
break;
default:
surface_color.r = 1.0;
surface_color.g = 1.0;
surface_color.b = 1.0;
break;
}
// Add marker point.
Eigen::Vector2d position;
map.getPosition(buffIndex, position);
geometry_msgs::Point point;
point.x = position.x();
point.y = position.y();
point.z = elevation - markerHeightOffset;
marker_.points.push_back(point);
// Add marker color.
if(haveColor)
{
// std_msgs::ColorRGBA markerColor =
// grid_map_visualization::color_utils::interpolateBetweenColors(
// color, lowerValueBound, upperValueBound, lowerColor_, upperColor_);
//marker_.colors.push_back(markerColor);
marker_.colors.push_back(surface_color);
}
}
}
markerPublisher_.publish(marker_);
}