forked from ANYbotics/grid_map
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GridMapCvProcessing.cpp
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/
GridMapCvProcessing.cpp
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/*
* GridMapCvProcessing.cpp
*
* Created on: Apr 15, 2016
* Author: Péter Fankhauser, Magnus Gärtner
* Institute: ETH Zurich, ANYbotics
*/
#include "grid_map_cv/GridMapCvProcessing.hpp"
#include "grid_map_cv/GridMapCvConverter.hpp"
#include <Eigen/Geometry>
#include <opencv2/core/eigen.hpp>
namespace grid_map {
GridMapCvProcessing::GridMapCvProcessing() {}
GridMapCvProcessing::~GridMapCvProcessing() {}
bool GridMapCvProcessing::changeResolution(const GridMap& gridMapSource, GridMap& gridMapResult, const double resolution,
const int interpolationAlgorithm) {
GridMap gridMapSourceCopy(gridMapSource);
gridMapSourceCopy.convertToDefaultStartIndex();
const double sizeFactor = gridMapSourceCopy.getResolution() / resolution;
bool firstLayer = true;
for (const auto& layer : gridMapSourceCopy.getLayers()) {
cv::Mat imageSource, imageResult;
const float minValue = gridMapSourceCopy.get(layer).minCoeffOfFinites();
const float maxValue = gridMapSourceCopy.get(layer).maxCoeffOfFinites();
const bool hasNaN = gridMapSourceCopy.get(layer).hasNaN();
bool result;
if (hasNaN) {
result = GridMapCvConverter::toImage<unsigned short, 4>(gridMapSourceCopy, layer, CV_16UC4, minValue, maxValue, imageSource);
} else {
result = GridMapCvConverter::toImage<unsigned short, 1>(gridMapSourceCopy, layer, CV_16UC1, minValue, maxValue, imageSource);
}
if (!result) return false;
cv::resize(imageSource, imageResult, cv::Size(0.0, 0.0), sizeFactor, sizeFactor, interpolationAlgorithm);
if (firstLayer) {
if (!GridMapCvConverter::initializeFromImage(imageResult, resolution, gridMapResult, gridMapSourceCopy.getPosition())) return false;
firstLayer = false;
}
if (hasNaN) {
result = GridMapCvConverter::addLayerFromImage<unsigned short, 4>(imageResult, layer, gridMapResult, minValue, maxValue);
} else {
result = GridMapCvConverter::addLayerFromImage<unsigned short, 1>(imageResult, layer, gridMapResult, minValue, maxValue);
}
if (!result) return false;
}
gridMapResult.setFrameId(gridMapSourceCopy.getFrameId());
gridMapResult.setTimestamp(gridMapSourceCopy.getTimestamp());
gridMapResult.setBasicLayers(gridMapSourceCopy.getBasicLayers());
return true;
}
GridMap GridMapCvProcessing::getTransformedMap(GridMap&& gridMapSource, const Eigen::Isometry3d& transform,
const std::string& heightLayerName, const std::string& newFrameId) {
// Check if height layer is valid.
if (!gridMapSource.exists(heightLayerName)) {
throw std::out_of_range("GridMap::getTransformedMap(...) : No map layer '" + heightLayerName + "' available.");
}
// Check if transformation is z aligned.
if (std::abs(transform(2, 2) - 1) >= 0.05) {
throw std::invalid_argument("The given transform is not Z aligned!");
}
auto yawPitchRoll = transform.rotation().eulerAngles(2, 1, 0); // Double check convention!
double rotationAngle = yawPitchRoll.x() * 180 / CV_PI;
if (std::abs(yawPitchRoll.y()) >= 3 && std::abs(yawPitchRoll.z()) >= 3) { // Resolve yaw ambiguity in euler angles.
rotationAngle += 180;
}
gridMapSource.convertToDefaultStartIndex();
// Create the rotated gridMap.
GridMap transformedMap(gridMapSource.getLayers());
transformedMap.setBasicLayers(gridMapSource.getBasicLayers());
transformedMap.setTimestamp(gridMapSource.getTimestamp());
transformedMap.setFrameId(newFrameId);
// openCV rotation parameters, initalized on first layer.
cv::Mat imageRotationMatrix;
cv::Rect2f boundingBox;
bool firstLayer = true;
for (const auto& layer : gridMapSource.getLayers()) {
cv::Mat imageSource, imageResult;
// From gridMap to openCV image. Assumes defaultStartIndex.
cv::eigen2cv(gridMapSource[layer], imageSource);
// Calculate transformation matrix and update geometry of the resulting grid map.
if (firstLayer) {
// Get rotation matrix for rotating the image around its center in pixel coordinates. See
// https://answers.opencv.org/question/82708/rotation-center-confusion/
cv::Point2f imageCenter =
cv::Point2f((imageSource.cols - 1) / 2.0, (imageSource.rows - 1) / 2.0);
imageRotationMatrix = cv::getRotationMatrix2D(imageCenter, rotationAngle, 1.0);
boundingBox = cv::RotatedRect(cv::Point2f(0, 0), imageSource.size(), rotationAngle).boundingRect2f();
// Adjust transformation matrix. See
// https://docs.opencv.org/3.4/da/d54/group__imgproc__transform.html#gafbbc470ce83812914a70abfb604f4326 and https://stackoverflow.com/questions/22041699/rotate-an-image-without-cropping-in-opencv-in-c
imageRotationMatrix.at<double>(0, 2) += boundingBox.width / 2.0 - imageSource.cols / 2.0;
imageRotationMatrix.at<double>(1, 2) += boundingBox.height / 2.0 - imageSource.rows / 2.0;
// Calculate the new center of the gridMap.
Position3 newCenter = transform * Position3{(gridMapSource.getPosition().x()), (gridMapSource.getPosition().y()), 0.0};
// Set the size of the rotated gridMap.
transformedMap.setGeometry({boundingBox.height * gridMapSource.getResolution(), boundingBox.width * gridMapSource.getResolution()},
gridMapSource.getResolution(), Position(newCenter.x(), newCenter.y()));
firstLayer = false;
}
// Rotate the layer.
imageResult = cv::Mat(boundingBox.size(), CV_32F, std::numeric_limits<double>::quiet_NaN());
cv::warpAffine(imageSource, imageResult, imageRotationMatrix, boundingBox.size(), cv::INTER_NEAREST, cv::BORDER_TRANSPARENT);
// Copy result into gridMapLayer. Assumes default start index.
Matrix resultLayer;
cv::cv2eigen(imageResult, resultLayer);
transformedMap.add(layer, resultLayer);
}
// Add height translation.
grid_map::Matrix heightLayer = transformedMap[heightLayerName];
transformedMap[heightLayerName] = heightLayer.array() + transform.translation().z();
return transformedMap;
}
} // namespace grid_map