/*!
* Initializes the geometry of a grid map from an image. This changes
* the geometry of the map and deletes all contents of the layers!
* @param[in] image the image.
* @param[in] resolution the desired resolution of the grid map [m/cell].
* @param[out] gridMap the grid map to be initialized.
* @param[in](optional) position the position of the grid map.
* @return true if successful, false otherwise.
*/
static bool initializeFromImage(const cv::Mat& image, const double resolution,
grid_map::GridMap& gridMap, const grid_map::Position& position)
{
const double lengthX = resolution * image.rows;
const double lengthY = resolution * image.cols;
Length length(lengthX, lengthY);
gridMap.setGeometry(length, resolution, position);
return true;
}
bool GridMapRosConverter::initializeFromImage(const sensor_msgs::Image& image,
const double resolution, grid_map::GridMap& gridMap, const grid_map::Position& position)
{
const double lengthX = resolution * image.height;
const double lengthY = resolution * image.width;
Length length(lengthX, lengthY);
gridMap.setGeometry(length, resolution, position);
gridMap.setFrameId(image.header.frame_id);
gridMap.setTimestamp(image.header.stamp.toNSec());
return true;
}
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;
}
bool GridMapRosConverter::fromMessage(const grid_map_msgs::GridMap& message, grid_map::GridMap& gridMap)
{
gridMap.setTimestamp(message.info.header.stamp.toNSec());
gridMap.setFrameId(message.info.header.frame_id);
gridMap.setGeometry(Length(message.info.length_x, message.info.length_y), message.info.resolution,
Position(message.info.pose.position.x, message.info.pose.position.y));
if (message.layers.size() != message.data.size()) {
ROS_ERROR("Different number of layers and data in grid map message.");
return false;
}
for (unsigned int i = 0; i < message.layers.size(); i++) {
Matrix data;
multiArrayMessageCopyToMatrixEigen(message.data[i], data); // TODO Could we use the data mapping (instead of copying) method here?
// TODO Check if size is good. size_ << getRows(message.data[0]), getCols(message.data[0]);
gridMap.add(message.layers[i], data);
}
gridMap.setBasicLayers(message.basic_layers);
gridMap.setStartIndex(Index(message.outer_start_index, message.inner_start_index));
return true;
}
