void PotentialField::init() { ROS_INFO("Created map"); map_.setFrameId("/potential_field_link"); map_.setGeometry(Length(map_x_size_, map_y_size_), map_resolution_); for (GridMapIterator it(map_); !it.isPastEnd(); ++it) { Position position; map_.getPosition(*it, position); map_.at("obstacle_field", *it) = 0.0; map_.at("target_waypoint_field", *it) = 0.0; map_.at("vscan_points_field", *it) = 0.0; map_.at("potential_field", *it) = 0.0; } ROS_INFO("Created map with size %f x %f m (%i x %i cells).", map_.getLength().x(), map_.getLength().y(), map_.getSize()(0), map_.getSize()(1)); }
void populateMap(GridMap &map, string layer,string file_path, float scale,float res) { cv_bridge::CvImage cv_image; Mat img = imread(file_path,CV_LOAD_IMAGE_GRAYSCALE); cv::Size img_size= img.size(); cv::resize(img,img,cv::Size(),scale,scale, CV_INTER_CUBIC); map.setGeometry(Length(img.rows*res,img.cols*res),res); for (GridMapIterator it(map); !it.isPastEnd(); ++it) { Position position; map.getPosition(*it, position); int x = (img.rows/2) + position.x()/res+res/2.0; int y = (img.cols/2) + position.y()/res+res/2.0; map.at(layer, *it) = img.at<uchar>(x,y)<200?1:0; } map.setTimestamp(ros::Time::now().toNSec()); ROS_INFO("Created map with size %f x %f m (%i x %i cells).",map.getLength().x(), map.getLength().y(),map.getSize()(0), map.getSize()(1)); }
TEST(GridMapCvProcessing, changeResolution) { // Create grid map. GridMap mapIn; mapIn.setGeometry(grid_map::Length(2.0, 1.0), 0.01); mapIn.add("layer", 1.0); for (grid_map::CircleIterator iterator(mapIn, mapIn.getPosition(), 0.2); !iterator.isPastEnd(); ++iterator) { mapIn.at("layer", *iterator) = 2.0; } // Change resolution. GridMap mapOut; EXPECT_TRUE(GridMapCvProcessing::changeResolution(mapIn, mapOut, 0.1)); // Check data. EXPECT_TRUE((mapIn.getLength() == mapOut.getLength()).all()); EXPECT_TRUE(mapIn.getPosition() == mapOut.getPosition()); EXPECT_TRUE((mapIn.getSize() == mapOut.getSize() * 10).all()); EXPECT_EQ(mapIn["layer"](0, 0), mapOut["layer"](0, 0)); // Corner. EXPECT_EQ(mapIn.atPosition("layer", mapIn.getPosition()), mapOut.atPosition("layer", mapOut.getPosition())); // Center. }
EllipseIterator::EllipseIterator(const GridMap& gridMap, const Position& center, const Length& length, const double rotation) : center_(center) { semiAxisSquare_ = (0.5 * length).square(); double sinRotation = sin(rotation); double cosRotation = cos(rotation); transformMatrix_ << cosRotation, sinRotation, sinRotation, -cosRotation; mapLength_ = gridMap.getLength(); mapPosition_ = gridMap.getPosition(); resolution_ = gridMap.getResolution(); bufferSize_ = gridMap.getSize(); bufferStartIndex_ = gridMap.getStartIndex(); Index submapStartIndex; Index submapBufferSize; findSubmapParameters(center, length, rotation, submapStartIndex, submapBufferSize); internalIterator_ = std::shared_ptr<SubmapIterator>(new SubmapIterator(gridMap, submapStartIndex, submapBufferSize)); if(!isInside()) ++(*this); }
void PotentialField::vscan_points_callback( sensor_msgs::PointCloud2::ConstPtr vscan_msg) { static VscanPointsFieldParamater param; double around_x(param.around_x); double around_y(param.around_y); ros::Time time = ros::Time::now(); pcl::PointCloud<pcl::PointXYZ> pcl_vscan; pcl::fromROSMsg(*vscan_msg, pcl_vscan); pcl::PointCloud<pcl::PointXYZ>::Ptr pcl_vscan_ptr( new pcl::PointCloud<pcl::PointXYZ>(pcl_vscan)); double length_x = map_.getLength().x() / 2.0; double length_y = map_.getLength().y() / 2.0; for (GridMapIterator it(map_); !it.isPastEnd(); ++it) { Position position; map_.getPosition(*it, position); map_.at("vscan_points_field", *it) = 0.0; for (int i(0); i < (int)pcl_vscan.size(); ++i) { double point_x = pcl_vscan.at(i).x - map_x_offset_; if (3.0 < pcl_vscan.at(i).z + tf_z_ || pcl_vscan.at(i).z + tf_z_ < 0.3) continue; if (length_x < point_x && point_x < -1.0 * length_x) continue; if (length_y < pcl_vscan.at(i).y && pcl_vscan.at(i).y < -1.0 * length_y) continue; if ((point_x + tf_x_) - around_x < position.x() && position.x() < point_x + tf_x_ + around_x) { if (pcl_vscan.at(i).y - around_y < position.y() && position.y() < pcl_vscan.at(i).y + around_y) { map_.at("vscan_points_field", *it) = 1.0; // std::exp(0.0) ; } } } } map_.setTimestamp(time.toNSec()); publish_potential_field(); }