Merge pull request #1 from ros-sports/add_map_generator

Move map generator

.gitignore

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+__pycache__/
+.vscode/*
+log/*
+
+*.pyc

README.md

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-# Template Repo
+# Soccer Field Map Generator
 
 [![Build and Test (humble)](../../actions/workflows/build_and_test_humble.yaml/badge.svg?branch=rolling)](../../actions/workflows/build_and_test_humble.yaml?query=branch:rolling)
 [![Build and Test (iron)](../../actions/workflows/build_and_test_iron.yaml/badge.svg?branch=rolling)](../../actions/workflows/build_and_test_iron.yaml?query=branch:rolling)
 [![Build and Test (rolling)](../../actions/workflows/build_and_test_rolling.yaml/badge.svg?branch=rolling)](../../actions/workflows/build_and_test_rolling.yaml?query=branch:rolling)
+
+This repository contains a tool for generating soccer field maps. It includes a GUI for interactively creating and editing maps, as well as a command-line interface for scripted map generation.
+
+## Installation
+
+To install the tool, run the following commands in your colcon workspace:
+
+```bash
+git clone [email protected]:ros-sports/soccer_field_map_generator.git src/soccer_field_map_generator
+rosdep install --from-paths src --ignore-src -r -y
+colcon build
+```
+
+Don't forget to source your workspace after building:
+
+```bash
+source install/setup.bash
+```
+
+## Usage
+
+### GUI
+
+To launch the GUI, run the following command:
+
+```bash
+ros2 run soccer_field_map_generator gui
+```
+
+You should see a window like this:
+
+![GUI](gui.png)
+
+### CLI
+
+To generate a map using the command-line interface, run the following command:
+
+```bash
+ros2 run soccer_field_map_generator cli [output_file] [config_file] [options]
+```

soccer_field_map_generator/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>soccer_field_map_generator</name>
+  <version>0.0.0</version>
+  <description>A package to generate a soccer field map using a gui or cli</description>
+  <maintainer email="[email protected]">Florian Vahl</maintainer>
+  <license>Apache License 2.0</license>
+
+  <depend>python3-opencv</depend>
+  <depend>python3-numpy</depend>
+  <depend>python3-tk</depend>
+  <depend>python3-yaml</depend>
+  <depend>python3-pil</depend>
+  <depend>python3-scipy</depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

soccer_field_map_generator/setup.cfg

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+[develop]
+script_dir=$base/lib/soccer_field_map_generator
+[install]
+install_scripts=$base/lib/soccer_field_map_generator

soccer_field_map_generator/setup.py

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+from setuptools import find_packages, setup
+
+package_name = 'soccer_field_map_generator'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='florian',
+    maintainer_email='[email protected]',
+    description='A package to generate a soccer field map using a gui or cli',
+    license='Apache License 2.0',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'gui = soccer_field_map_generator.gui:main',
+            'cli = soccer_field_map_generator.cli:main',
+        ],
+    },
+)

soccer_field_map_generator/soccer_field_map_generator/cli.py

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+# Copyright (c) 2023 Hamburg Bit-Bots
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+
+import argparse
+import os
+import sys
+
+import cv2
+from soccer_field_map_generator.generator import (
+    generate_map_image,
+    generate_metadata,
+    load_config_file,
+)
+import yaml
+
+
+def main():
+    parser = argparse.ArgumentParser(description='Generate maps for localization')
+    parser.add_argument('output', help='Output file name')
+    parser.add_argument(
+        'config',
+        help='Config file for the generator that specifies the parameters for the map generation',
+    )
+    parser.add_argument(
+        '--metadata',
+        help="Also generates a 'map_server.yaml' file with the metadata for the map",
+        action='store_true',
+    )
+    args = parser.parse_args()
+
+    # Check if the config file exists
+    if not os.path.isfile(args.config):
+        print('Config file does not exist')
+        sys.exit(1)
+
+    # Load config file
+    with open(args.config, 'r') as config_file:
+        parameters = load_config_file(config_file)
+
+    # Check if the config file is valid
+    if parameters is None:
+        print('Invalid config file')
+        sys.exit(1)
+
+    # Generate the map image
+    image = generate_map_image(parameters)
+
+    # Make output folder full path
+    output_path = os.path.abspath(args.output)
+
+    # Check if the output folder exists
+    if not os.path.isdir(os.path.dirname(output_path)):
+        print('Output folder does not exist')
+        sys.exit(1)
+
+    # Save the image
+    cv2.imwrite(output_path, image)
+
+    # Generate the metadata
+    if args.metadata:
+        metadata = generate_metadata(parameters, os.path.basename(output_path))
+        metadata_file_name = os.path.join(
+            os.path.dirname(output_path), 'map_server.yaml'
+        )
+        with open(metadata_file_name, 'w') as metadata_file:
+            yaml.dump(metadata, metadata_file, sort_keys=False)
+
+
+if __name__ == '__main__':
+    main()