forked from logzhan/RobotHardware-UESTC
35 lines
925 B
Python
35 lines
925 B
Python
import cv2
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import numpy as np
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def map_server_to_cv2(data):
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# print(data.info.height, data.info.width)
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data = np.reshape(data.data, (data.info.height, data.info.width))
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data = np.flipud(data)
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# -1 --> 205
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# 0 --> 255
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# 100--> 0
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image = np.where(data == -1, 205, 255 - (255.0 * data / 100)).astype(np.uint8)
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#cv2.imshow("cv2_map", data)
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return image
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def cv2_to_map_server(image):
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image = np.flipud(image)
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# 205 --> -1
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# 255 --> 0
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# 0 --> 100
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data = np.where(image == 205, -1, (255 - image) * 100.0 / 255).astype(np.int8).flatten()
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return list(data)
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# pub_data = OccupancyGrid()
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# pub_data.header.frame_id = "map"
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# pub_data.header.stamp = rospy.Time.now()
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# pub_data.info = map_data.info
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# pub_data.data = list(data)
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# print(len(pub_data.data), pub_data.info.height * pub_data.info.width)
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# map_publisher.publish(pub_data) |