MapReader.py

import numpy as np

from matplotlib import pyplot as plt
from matplotlib import figure as fig

class MapReader:

    def __init__(self, src_path_map):

        self._occupancy_map = np.genfromtxt(src_path_map, skip_header=7)
        self._occupancy_map[self._occupancy_map < 0] = -1
        self._occupancy_map[self._occupancy_map > 0] = 1 - self._occupancy_map[self._occupancy_map > 0]
        self._occupancy_map = np.flipud(self._occupancy_map)

        self._resolution = 10 # each cell has a 10cm resolution in x,y axes
        self._size_x = self._occupancy_map.shape[0] * self._resolution
        self._size_y = self._occupancy_map.shape[1] * self._resolution

        print 'Finished reading 2D map of size : ' + '(' + str(self._size_x) + ',' + str(self._size_y) + ')'

    def visualize_map(self):
        fig = plt.figure()
        plt.switch_backend('TkAgg')
        mng = plt.get_current_fig_manager(); mng.resize(*mng.window.maxsize())
        plt.ion(); plt.imshow(self._occupancy_map, cmap='Greys'); plt.axis([0, self._size_x, 0, self._size_y]); plt.draw()
        plt.pause(100)

    def get_map(self):
        return self._occupancy_map

    def get_map_size_x(self): # in cm
        return self._size_x

    def get_map_size_y(self): # in cm
        return self._size_y

if __name__=="__main__":
    
    src_path_map = '../data/map/wean.dat'
    map1 = MapReader(src_path_map)
    map1.visualize_map()