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Update m2w function. World coordinates are computed based on center of 

map cell.
master
matssteinweg 2019-12-01 01:58:14 +01:00
parent e87596d5e8
commit a3b2b4d3f3
1 changed files with 7 additions and 13 deletions
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20
map.py
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@ -1,15 +1,7 @@
#!/usr/bin/env python
import sys
import os
import math
import numpy as np import numpy as np
import matplotlib.pyplot as plt import matplotlib.pyplot as plt
from skimage.morphology import remove_small_holes from skimage.morphology import remove_small_holes
from PIL import Image from PIL import Image
dirname = os.path.dirname(__file__)
svea = os.path.join(dirname, '../../')
sys.path.append(os.path.abspath(svea))
class Map: class Map:
@ -24,7 +16,7 @@ class Map:
self.threshold_occupied = threshold_occupied self.threshold_occupied = threshold_occupied
# instantiate member variables # instantiate member variables
self.data = np.array(Image.open(file_path))[:, :, 0] # numpy array containing map data self.data = np.array(Image.open(file_path))[:, :, 0] # numpy array containing map data
#self.process_map() self.process_map()
self.height = self.data.shape[0] # height of the map in px self.height = self.data.shape[0] # height of the map in px
self.width = self.data.shape[1] # width of the map in px self.width = self.data.shape[1] # width of the map in px
self.resolution = resolution # resolution of the map in m/px self.resolution = resolution # resolution of the map in m/px
@ -52,14 +44,16 @@ class Map:
:param y: y coordinate in global coordinate system :param y: y coordinate in global coordinate system
:return: discrete x and y coordinates in px :return: discrete x and y coordinates in px
""" """
x = dx * self.resolution + self.origin[0] x = (dx + 0.5) * self.resolution + self.origin[0]
y = dy * self.resolution + self.origin[1] y = (dy + 0.5) * self.resolution + self.origin[1]
return x, y return x, y
def process_map(self): def process_map(self):
self.data = remove_small_holes(self.data, area_threshold=5, #self.data = remove_small_holes(self.data, area_threshold=5,
connectivity=8).astype(np.int8) # connectivity=8).astype(np.int8)
self.data = np.where(self.data >= 100, 1, 0)
if __name__ == '__main__': if __name__ == '__main__':