Skip to content

added possibility to delete points #2

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
Silvger wants to merge 1 commit into
base: main
Choose a base branch
from
Open

added possibility to delete points #2

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
24 changes: 13 additions & 11 deletions utils/map/mowareareader.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -4,12 +4,14 @@
# v0.1 nekraus
# v0.2 javaboon
# v0.3 eddi 20230423
# v0.4 biemond
# v0.5 silvger
# - changes: switch from polygon PathPatch
# - obstacle integration
# state: x,y-points in one ore more mow areas including 0 to n obstacles can be moved and saved to a new map (output.bag)
# state: x,y-points in one ore more mow areas including 0 to n obstacles can be moved and saved to a new map (output.bag)
# to do:
# - integration of transportation area
# - possibilty of adding and deleting points (first and last points of a circle MUST NOT be deleted!)
# - possibilty of adding points(first and last points of a circle MUST NOT be deleted!)
# - integration of docking station
# you need a python runtime and at least bagpy-package (pip3 install bagpy)
#########################################################################################################
Expand Down Expand Up @@ -134,15 +136,16 @@ def on_key_press(self, event):
self.line.set_visible(self.showverts)
if not self.showverts:
self._ind = None
###delete doesn't work - work in progress!###
#elif event.key == 'd':
# ind = self.get_ind_under_point(event)
# if ind is not None:
# self.pathpatch.get_path().vertices = np.delete(self.pathpatch.get_path().vertices,
# ind, axis=0)
# self.line.set_data(zip(*self.pathpatch.get_path().vertices))
elif event.key == 'd':
ind = self.get_ind_under_point(event)
if ind is not None:
# Delete the point
self.pathpatch.get_path().vertices = np.delete(self.pathpatch.get_path().vertices, ind, axis=0)
self.pathpatch.get_path().codes = np.delete(self.pathpatch.get_path().codes, ind, axis=0)
self.line.set_data(zip(*self.pathpatch.get_path().vertices))
self.canvas.draw()


def on_mouse_move(self, event):
"""Callback for mouse movements."""
if (self._ind is None
Expand Down Expand Up @@ -170,7 +173,7 @@ def on_mouse_move(self, event):
bag = rosbag.Bag('map.bag')
with rosbag.Bag('output.bag', 'w') as outbag:
for topic, msg, t in bag.read_messages():
if topic == 'mowing_areas':
if topic in ['mowing_areas', 'navigation_areas']:
x_list_area = []
y_list_area = []
verts=[]
Expand Down Expand Up @@ -265,4 +268,3 @@ def on_mouse_move(self, event):