cost_interpretation_tables.cpp

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#include <nav_grid_pub_sub/cost_interpretation_tables.h>
#include <vector>

namespace nav_grid_pub_sub
{

std::vector<unsigned char> pixelColoringInterpretation(const double free_threshold, const double occupied_threshold)
{
  std::vector<unsigned char> cost_interpretation_table(256);
  for (unsigned int i = 0; i < cost_interpretation_table.size(); i++)
  {
    double intensity = static_cast<double>(i) / 255.0;
    if (intensity > occupied_threshold)
    {
      cost_interpretation_table[i] = +100;
    }
    else if (intensity < free_threshold)
    {
      cost_interpretation_table[i] = 0;
    }
    else
    {
      cost_interpretation_table[i] = -1;
    }
  }
  return cost_interpretation_table;
}

std::vector<unsigned char> grayScaleInterpretation(const double free_threshold, const double occupied_threshold)
{
  std::vector<unsigned char> cost_interpretation_table(256);
  for (unsigned int i = 0; i < cost_interpretation_table.size(); i++)
  {
    double intensity = static_cast<double>(i) / 255.0;
    if (intensity > occupied_threshold)
    {
      cost_interpretation_table[i] = +100;
    }
    else if (intensity < free_threshold)
    {
      cost_interpretation_table[i] = 0;
    }
    else
    {
      // scale from [free_threshold, occupied_threshold] to [1, 99]
      cost_interpretation_table[i] = 99 * (intensity - free_threshold) / (occupied_threshold - free_threshold);
    }
  }
  return cost_interpretation_table;
}

std::vector<unsigned char> getOccupancyInput(bool trinary, bool use_unknown_value)
{
  std::vector<unsigned char> cost_interpretation_table(256);
  for (unsigned int i = 0; i < cost_interpretation_table.size(); i++)
  {
    unsigned char value;
    if (use_unknown_value && i == 255)
      value = 255;
    else if (!use_unknown_value && i == 255)
      value = 0;
    else if (i >= 100)
      value = 254;
    else if (i == 99)
      value = 253;
    else if (trinary)
      value = 0;
    else
    {
      double scale = static_cast<double>(i) / 100.0;
      value = static_cast<unsigned char>(scale * 254);
    }
    cost_interpretation_table[i] = value;
  }
  return cost_interpretation_table;
}

}  // namespace nav_grid_pub_sub