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map_saver: fix saved raw image being too dark #4712

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map_saver: fix saved raw image being too dark #4712

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ca1970b
nav2_map_server: map_io: fix Magick::Quantum value when saving raw map
DylanDeCoeyer-Quimesis Oct 7, 2024
8c8c10b
nav2_map_server: map_io: generalize computation of raw map pixel value
DylanDeCoeyer-Quimesis Oct 9, 2024
32d7fc0
nav2_map_server: map_io: fix linting errors
DylanDeCoeyer-Quimesis Oct 9, 2024
6654d52
nav2_map_server: map_io: fix linting errors
DylanDeCoeyer-Quimesis Oct 9, 2024
3356872
nav2_map_server: map_io: fix linting errors
DylanDeCoeyer-Quimesis Oct 9, 2024
93a7f0b
nav2_map_server: map_io: fix linting errors
DylanDeCoeyer-Quimesis Oct 9, 2024
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27 changes: 20 additions & 7 deletions nav2_map_server/src/map_io.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -501,14 +501,27 @@ void tryWriteMapToFile(
}
break;
case MapMode::Raw:
Magick::Quantum q;
if (map_cell < 0 || 100 < map_cell) {
q = MaxRGB;
} else {
q = map_cell / 255.0 * MaxRGB;
{
double cell_cost;
if (map_cell >= nav2_util::OCC_GRID_FREE &&
map_cell <= nav2_util::OCC_GRID_OCCUPIED)
{
// Linear conversion from OccupancyGrid data range[OCC_GRID_FREE-OCC_GRID_OCCUPIED]
// to costmap data range [FREE_SPACE-LETHAL_OBSTACLE]
uint8_t lethal_obstacle_cost = 254; // nav2_costmap_2d::LETHAL_OBSTACLE
uint8_t free_space_cost = 0; // nav2_costmap_2d::FREE_SPACE
cell_cost = static_cast<double>(map_cell) *
(lethal_obstacle_cost - free_space_cost) /
(nav2_util::OCC_GRID_OCCUPIED - nav2_util::OCC_GRID_FREE);
} else {
// nav2_util::OCC_GRID_UNKNOWN or other invalid values
uint8_t no_information_cost = 255; // nav2_costmap_2d::NO_INFORMATION
cell_cost = no_information_cost;
}
Magick::Quantum q = std::round((cell_cost / 255.) * MaxRGB);
pixel = Magick::Color(q, q, q);
break;
}
pixel = Magick::Color(q, q, q);
break;
default:
std::cerr << "[ERROR] [map_io]: Map mode should be Trinary, Scale or Raw" << std::endl;
throw std::runtime_error("Invalid map mode");
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