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/*
* map_saver
* Copyright (c) 2008, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the <ORGANIZATION> nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#include "map_saver.h"
#include <sys/types.h>
#include <sys/stat.h>
#include <tf/tf.h>
using namespace std;
MapGenerator::MapGenerator(const std::string mapname)
{
m_Mapname = mapname;
}
void MapGenerator::saveMapLayer(const nav_msgs::OccupancyGridConstPtr &map, std::string fileName)
{
ROS_INFO("Writing map occupancy data to %s", fileName.c_str());
FILE* out = fopen(fileName.c_str(), "w");
if (!out)
{
ROS_ERROR("Couldn't save map file to %s", fileName.c_str());
return;
}
fprintf(out, "P5\n# CREATOR: map_saver.cpp %.3f m/pix\n%d %d\n255\n",
map->info.resolution, map->info.width, map->info.height);
for(unsigned int y = 0; y < map->info.height; y++) {
for(unsigned int x = 0; x < map->info.width; x++) {
unsigned int i = x + (map->info.height - y - 1) * map->info.width;
if (map->data[i] == -1) {
fputc(205, out);
} else if (map->data[i] < 20) { //occ [0,0.2)
fputc(254, out);
} else if (map->data[i] > 65) { //occ (0.65,1]
fputc(000, out);
} else { //occ [0.2,0.65]
fputc(205, out);
}
}
}
fclose(out);
}
void MapGenerator::save(const nav_msgs::OccupancyGridConstPtr& SLAMMap,
const nav_msgs::OccupancyGridConstPtr& maskingMap,
std::vector<homer_mapnav_msgs::PointOfInterest> poiList)
{
uint a = m_Mapname.rfind('/');
std::string filename = m_Mapname.substr(a+1, m_Mapname.size()-1);
int status;
status = mkdir(m_Mapname.c_str(), S_IRWXU | S_IRWXG | S_IROTH | S_IXOTH);
std::string SLAMMapdatafile = filename + "_SLAM.pgm";
std::string maskingMapdatafile = "";
saveMapLayer(SLAMMap, m_Mapname + "/" + SLAMMapdatafile);
if(maskingMap != NULL)
{
maskingMapdatafile = filename + "_mask.pgm";
saveMapLayer(maskingMap, m_Mapname + "/" + maskingMapdatafile);
}
std::string mapmetadatafile = m_Mapname + "/" + filename + ".yaml";
ROS_INFO("Writing map metadata to %s", mapmetadatafile.c_str());
FILE* yaml = fopen(mapmetadatafile.c_str(), "w");
/*
resolution: 0.100000
origin: [0.000000, 0.000000, 0.000000]
#
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196
*/
geometry_msgs::Quaternion orientation = SLAMMap->info.origin.orientation;
//btMatrix3x3 mat(btQuaternion(orientation.x, orientation.y, orientation.z, orientation.w));
tf::Quaternion quat_tf;
tf::quaternionMsgToTF(orientation, quat_tf);
double yaw = tf::getYaw(quat_tf);
//mat.getEulerYPR(yaw, pitch, roll);
stringstream pois;
if(!poiList.empty())
{
pois << "pois:\n";
std::vector< homer_mapnav_msgs::PointOfInterest >::iterator it;
for ( it = poiList.begin(); it != poiList.end(); it++ ) {
pois << " - name: " << it->name << "\n";
pois << " type: " << it->type << "\n";
pois << " x: " << it->pose.position.x << "\n";
pois << " y: " << it->pose.position.y << "\n";
pois << " theta: " << tf::getYaw(it->pose.orientation) << "\n";
pois << " remarks: " << it->remarks << "\n";
}
}
string poiStr = pois.str();
string maskImage = "";
if(maskingMapdatafile != "")
maskImage = "\nmask_image: ";
fprintf(yaml, "image: %s%s%s\nresolution: %f\norigin: [%f, %f, %f]\nnegate: 0\noccupied_thresh: 0.65\nfree_thresh: 0.195\n\n%s",
SLAMMapdatafile.c_str(), maskImage.c_str(), maskingMapdatafile.c_str(), SLAMMap->info.resolution, SLAMMap->info.origin.position.x, SLAMMap->info.origin.position.y, yaw, poiStr.c_str());
fclose(yaml);
ROS_INFO("Done\n");
}