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));
}
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.
}
void SignedDistanceField::calculateSignedDistanceField(const GridMap& gridMap, const std::string& layer,
const double heightClearance)
{
data_.clear();
resolution_ = gridMap.getResolution();
position_ = gridMap.getPosition();
size_ = gridMap.getSize();
Matrix map = gridMap.get(layer); // Copy!
float minHeight = map.minCoeffOfFinites();
if (!std::isfinite(minHeight)) minHeight = lowestHeight_;
float maxHeight = map.maxCoeffOfFinites();
if (!std::isfinite(maxHeight)) maxHeight = lowestHeight_;
const float valueForEmptyCells = lowestHeight_; // maxHeight, minHeight (TODO Make this an option).
for (size_t i = 0; i < map.size(); ++i) {
if (std::isnan(map(i))) map(i) = valueForEmptyCells;
}
// Height range of the signed distance field is higher than the max height.
maxHeight += heightClearance;
Matrix sdfElevationAbove = Matrix::Ones(map.rows(), map.cols()) * maxDistance_;
Matrix sdfLayer = Matrix::Zero(map.rows(), map.cols());
std::vector<Matrix> sdf;
zIndexStartHeight_ = minHeight;
// Calculate signed distance field from bottom.
for (float h = minHeight; h < maxHeight; h += resolution_) {
Eigen::Matrix<bool, Eigen::Dynamic, Eigen::Dynamic> obstacleFreeField = map.array() < h;
Eigen::Matrix<bool, Eigen::Dynamic, Eigen::Dynamic> obstacleField = obstacleFreeField.array() < 1;
Matrix sdfObstacle = getPlanarSignedDistanceField(obstacleField);
Matrix sdfObstacleFree = getPlanarSignedDistanceField(obstacleFreeField);
Matrix sdf2d;
// If 2d sdfObstacleFree calculation failed, neglect this SDF
// to avoid extreme small distances (-INF).
if ((sdfObstacleFree.array() >= INF).any()) sdf2d = sdfObstacle;
else sdf2d = sdfObstacle - sdfObstacleFree;
sdf2d *= resolution_;
for (size_t i = 0; i < sdfElevationAbove.size(); ++i) {
if(sdfElevationAbove(i) == maxDistance_ && map(i) <= h) sdfElevationAbove(i) = h - map(i);
else if(sdfElevationAbove(i) != maxDistance_ && map(i) <= h) sdfElevationAbove(i) = sdfLayer(i) + resolution_;
if (sdf2d(i) == 0) sdfLayer(i) = h - map(i);
else if (sdf2d(i) < 0) sdfLayer(i) = -std::min(fabs(sdf2d(i)), fabs(map(i) - h));
else sdfLayer(i) = std::min(sdf2d(i), sdfElevationAbove(i));
}
data_.push_back(sdfLayer);
}
}
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 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));
}
