TEST(GridMap, Move) { GridMap map; map.setGeometry(Length(8.1, 5.1), 1.0, Position(0.0, 0.0)); // bufferSize(8, 5) map.add("layer", 0.0); map.setBasicLayers(map.getLayers()); std::vector<BufferRegion> regions; map.move(Position(-3.0, -2.0), regions); Index startIndex = map.getStartIndex(); EXPECT_EQ(3, startIndex(0)); EXPECT_EQ(2, startIndex(1)); EXPECT_FALSE(map.isValid(Index(0, 0))); // TODO Check entire map. EXPECT_TRUE(map.isValid(Index(3, 2))); EXPECT_FALSE(map.isValid(Index(2, 2))); EXPECT_FALSE(map.isValid(Index(3, 1))); EXPECT_TRUE(map.isValid(Index(7, 4))); EXPECT_EQ(2, regions.size()); EXPECT_EQ(0, regions[0].getStartIndex()[0]); EXPECT_EQ(0, regions[0].getStartIndex()[1]); EXPECT_EQ(3, regions[0].getSize()[0]); EXPECT_EQ(5, regions[0].getSize()[1]); EXPECT_EQ(0, regions[1].getStartIndex()[0]); EXPECT_EQ(0, regions[1].getStartIndex()[1]); EXPECT_EQ(8, regions[1].getSize()[0]); EXPECT_EQ(2, regions[1].getSize()[1]); }
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. }