def run():
need_merge = False
atlaas_tiles = glob.glob("atlaas.*x*.tif")
for fatlaas in atlaas_tiles:
fregion = "region.%s.png"%fatlaas.split('.')[1]
need_convert = True
file_exists = False
if os.path.isfile(fregion):
file_exists = True
satlaas = os.stat(fatlaas)
sregion = os.stat(fregion)
if satlaas.st_mtime <= sregion.st_mtime:
need_convert = False
if need_convert:
logger.debug(fregion)
if file_exists:
atlaas.tile_to_region(fatlaas, fregion+".tmp")
merge(fregion+".tmp", fregion)
os.unlink(fregion+".tmp")
else:
atlaas.tile_to_region(fatlaas, fregion)
need_merge = True
if need_merge:
sys.stdout = devnull
atlaas.merge("region.*x*.png", "region.png")
sys.stdout = stdout
def run():
need_merge = False
atlaas_tiles = glob.glob("atlaas.*x*.tif")
for fatlaas in atlaas_tiles:
fregion = "region.%s.png" % fatlaas.split('.')[1]
need_convert = True
file_exists = False
if os.path.isfile(fregion):
file_exists = True
satlaas = os.stat(fatlaas)
sregion = os.stat(fregion)
if satlaas.st_mtime <= sregion.st_mtime:
need_convert = False
if need_convert:
logger.debug(fregion)
if file_exists:
atlaas.tile_to_region(fatlaas, fregion + ".tmp")
merge(fregion + ".tmp", fregion)
os.unlink(fregion + ".tmp")
else:
atlaas.tile_to_region(fatlaas, fregion)
need_merge = True
if need_merge:
sys.stdout = devnull
atlaas.merge("region.*x*.png", "region.png")
sys.stdout = stdout
def main(argv=[]):
if len(argv) == 2:
bounds = int(argv[1])
tilesrange = range(-bounds, bounds)
tiles = ['%ix%i'%(x,y) for x in tilesrange for y in tilesrange]
else:
if len(argv) < 4:
print(__doc__)
return 1
x0, y0, x1, y1 = [float(arg) for arg in argv[1:5]]
cost, tiles = tiles_for_path((x0,y0), (x1, y1))
data = process(tiles)
print(data)
if data:
atlaas.merge("region.*x*.png", "region.png")
return 0
def main(argv=[]):
if len(argv) == 2:
bounds = int(argv[1])
tilesrange = range(-bounds, bounds)
tiles = ['%ix%i' % (x, y) for x in tilesrange for y in tilesrange]
else:
if len(argv) < 4:
print(__doc__)
return 1
x0, y0, x1, y1 = [float(arg) for arg in argv[1:5]]
cost, tiles = tiles_for_path((x0, y0), (x1, y1))
data = process(tiles)
print(data)
if data:
atlaas.merge("region.*x*.png", "region.png")
return 0
mtime = 0
jpg_pose = None
rospy.init_node("atlaas_grid")
atlaas_path = rospy.get_param("atlaas_path", os.environ.get("ATLAAS_PATH", "."))
filepath = os.path.join(atlaas_path, "atlaas.jpg")
mergedpath = os.path.join(atlaas_path, "out.tif")
pub = rospy.Publisher("/grid", OccupancyGrid, queue_size=5, latch=True)
pub_glob = rospy.Publisher("/grid_glob", OccupancyGrid, queue_size=5, latch=True)
while not rospy.is_shutdown():
rospy.sleep(0.1)
if not pub.get_num_connections() and not pub_glob.get_num_connections():
continue # skip if no client
if not os.path.isfile(filepath):
continue
filestat = os.stat(filepath)
if filestat.st_mtime == mtime:
continue # skip if not modified
mtime = filestat.st_mtime
grid = atlaas8u_grid(filepath, stamp=rospy.Time.now())
pose = grid.info.origin.position.x, grid.info.origin.position.y
pub.publish(grid)
if not jpg_pose or pose != jpg_pose:
jpg_pose = pose
# if we did atlaas::slide (the internal tiles in memory moved)
atlaas.merge(os.path.join(atlaas_path, "atlaas.*x*.tif"), mergedpath)
if not os.path.isfile(mergedpath):
continue # skip if no tiles on disk
pub_glob.publish(atlaas_grid(mergedpath, stamp=rospy.Time.now()))
test.save_currents()
del test
# 1st erase data in tiles so as to have same size in merge() without noise
for fatlaas in glob.glob("atlaas.*x*.tif"):
g = gdal2(fatlaas)
g.bands *= 0
g.save()
fregion = "region.%s.png"%fatlaas.split('.')[1]
atlaas.tile_to_region(fatlaas, fregion)
for fregion in glob.glob("region.*x*.png"):
zero(fregion) # empty data
pcd_id = 0
patern = 'cloud.%05i.pcd'
test = atlaas.Atlaas()
test.init(120.0, 120.0, 0.1, 377016.5, 4824342.9, 141.0, 31, True)
while os.path.isfile(patern%pcd_id):
test.merge_file(patern%pcd_id)
test.save_currents()
atlaas.merge('atlaas.*x*.tif', 'merged.atlaas.%05i.tif'%pcd_id, compress=True)
for fatlaas in glob.glob("atlaas.*x*.tif"):
fregion = "region.%s.png"%fatlaas.split('.')[1]
if os.stat(fatlaas).st_mtime > os.stat(fregion).st_mtime:
atlaas.tile_to_region(fatlaas, fregion)
atlaas.merge('region.*x*.png', 'merged.region.%05i.png'%pcd_id)
pcd_id += 1
jpg_pose = None
rospy.init_node("atlaas_grid")
atlaas_path = rospy.get_param("atlaas_path",
os.environ.get("ATLAAS_PATH", "."))
filepath = os.path.join(atlaas_path, "atlaas.jpg")
mergedpath = os.path.join(atlaas_path, "out.tif")
pub = rospy.Publisher("/grid", OccupancyGrid, queue_size=5, latch=True)
pub_glob = rospy.Publisher("/grid_glob",
OccupancyGrid,
queue_size=5,
latch=True)
while not rospy.is_shutdown():
rospy.sleep(0.1)
if not pub.get_num_connections() and not pub_glob.get_num_connections():
continue # skip if no client
filestat = os.stat(filepath)
if filestat.st_mtime == mtime:
continue # skip if not modified
mtime = filestat.st_mtime
grid = atlaas8u_grid(filepath, stamp=rospy.Time.now())
pose = grid.info.origin.position.x, grid.info.origin.position.y
pub.publish(grid)
if not jpg_pose or pose != jpg_pose:
jpg_pose = pose
# if we did atlaas::slide (the internal tiles in memory moved)
atlaas.merge(os.path.join(atlaas_path, "atlaas.*x*.tif"), mergedpath)
if not os.path.isfile(mergedpath):
continue # skip if no tiles on disk
pub_glob.publish(atlaas_grid(mergedpath, stamp=rospy.Time.now()))
