def _map_callback(self, data):
resolution = self._resolution
if resolution is None:
resolution = occupancy_grid.calculate_resolution(
(self._width, self._height),
(data.info.width, data.info.height), data.info.resolution)
scaled_map = occupancy_grid.scale_occupancy_grid(data, resolution)
self._scaled_map_publisher.publish(scaled_map)
def _map_callback(self, data):
resolution = self._resolution
if resolution is None:
resolution = occupancy_grid.calculate_resolution(
(self._width, self._height), (data.info.width, data.info.height),
data.info.resolution)
scaled_map = occupancy_grid.scale_occupancy_grid(
data, resolution)
self._scaled_map_publisher.publish(scaled_map)
def _map_callback(self, data):
resolution = self._resolution
if resolution is None:
resolution = occupancy_grid.calculate_resolution(
(self._width, self._height), (data.info.width, data.info.height),
data.info.resolution)
compressed_map = occupancy_grid.compress_occupancy_grid(
data, resolution, self._format, self._color_configuration)
self._compressed_map_publisher.publish(compressed_map)
def test_calculate_resolution(self):
self.assertEqual(occupancy_grid.calculate_resolution((2, 2), (4, 4), 1.0),
2.0)
self.assertEqual(occupancy_grid.calculate_resolution((4, 4), (2, 2), 1.0),
0.5)
self.assertEqual(occupancy_grid.calculate_resolution((4, 2), (4, 4), 1.0),
2.0)
self.assertEqual(occupancy_grid.calculate_resolution((2, 4), (4, 4), 1.0),
2.0)
self.assertEqual(occupancy_grid.calculate_resolution((2, 4), (4, 8), 1.0),
2.0)
self.assertEqual(occupancy_grid.calculate_resolution((4, 2), (4, 8), 1.0),
4.0)
self.assertEqual(occupancy_grid.calculate_resolution((1, 2), (8, 4), 1.0),
8.0)
