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)