map_converter.ipynb

{
 "cells": [
  {
   "attachments": {},
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Map Converter\n",
    "This is a Jupyter Notebook to Convert a `.png` or `.pgm` + `.yaml` of a map into a `.csv` that can be fed into the TUMFTM functions.\n",
    "\n",
    "High Level Steps:\n",
    "1. Get the Euclidean Distance Transform of the map\n",
    "2. Apply skeletonization to the map to extract centerlines\n",
    "3. Run DFS to extract the centerline xy coordinates in order\n",
    "4. Apply the transformations to go from pixel to meter coordinate frame\n",
    "\n",
    "\n",
    "Map Conditions:\n",
    "- Map edges should be well defined, inside should be white, walls are black and outside is grey"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 169,
   "metadata": {},
   "outputs": [],
   "source": [
    "import numpy as np\n",
    "from skimage.morphology import skeletonize\n",
    "import matplotlib.pyplot as plt\n",
    "import yaml\n",
    "import scipy\n",
    "from scipy.ndimage import distance_transform_edt as edt\n",
    "from PIL import Image\n",
    "import os"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 170,
   "metadata": {},
   "outputs": [],
   "source": [
    "MAP_NAME = \"Montreal_map\"\n",
    "\n",
    "TRACK_WIDTH_MARGIN = 0.0 # Extra Safety margin, in meters"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 171,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "<matplotlib.image.AxesImage at 0x7f427c7bd790>"
      ]
     },
     "execution_count": 171,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
     "data": {
      "image/png": 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",
      "text/plain": [
       "<Figure size 720x720 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "# Modified from https://github.com/CL2-UWaterloo/Head-to-Head-Autonomous-Racing/blob/main/gym/f110_gym/envs/laser_models.py\n",
    "# load map image\n",
    "\n",
    "if os.path.exists(f\"maps/{MAP_NAME}.png\"):\n",
    "    map_img_path = f\"maps/{MAP_NAME}.png\"\n",
    "elif os.path.exists(f\"maps/{MAP_NAME}.pgm\"):\n",
    "    map_img_path = f\"maps/{MAP_NAME}.pgm\"\n",
    "else:\n",
    "    raise Exception(\"Map not found!\")\n",
    "\n",
    "map_yaml_path = f\"maps/{MAP_NAME}.yaml\"\n",
    "raw_map_img = np.array(Image.open(map_img_path).transpose(Image.FLIP_TOP_BOTTOM))\n",
    "raw_map_img = raw_map_img.astype(np.float64)\n",
    "\n",
    "plt.figure(figsize=(10, 10))\n",
    "plt.imshow(raw_map_img, cmap='gray', origin='lower')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 172,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "<matplotlib.image.AxesImage at 0x7f4278ea8100>"
      ]
     },
     "execution_count": 172,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
     "data": {
      "image/png": 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",
      "text/plain": [
       "<Figure size 720x720 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "# grayscale -> binary. Converts grey to black\n",
    "map_img = raw_map_img.copy()\n",
    "map_img[map_img <= 210.] = 0\n",
    "map_img[map_img > 210.] = 1\n",
    "\n",
    "map_height = map_img.shape[0]\n",
    "# map_width = map_img.shape[1]\n",
    "map_img\n",
    "plt.figure(figsize=(10, 10))\n",
    "plt.imshow(map_img, cmap='gray', origin='lower')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 173,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "<matplotlib.image.AxesImage at 0x7f4278c23f40>"
      ]
     },
     "execution_count": 173,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
     "data": {
      "image/png": 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",
      "text/plain": [
       "<Figure size 720x720 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "plt.figure(figsize=(10, 10))\n",
    "# Calculate Euclidean Distance Transform (tells us distance to nearest wall)\n",
    "dist_transform = scipy.ndimage.distance_transform_edt(map_img)\n",
    "plt.imshow(dist_transform, cmap='gray', origin='lower')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 174,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "<matplotlib.image.AxesImage at 0x7f4278afd8e0>"
      ]
     },
     "execution_count": 174,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
     "data": {
      "image/png": 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",
      "text/plain": [
       "<Figure size 720x720 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "\n",
    "# Threshold the distance transform to create a binary image\n",
    "THRESHOLD = 0.17 # You should play around with this number. Is you say hairy lines generated, either clean the map so it is more curvy or increase this number\n",
    "centers = dist_transform > THRESHOLD*dist_transform.max()\n",
    "plt.figure(figsize=(10, 10))\n",
    "plt.imshow(centers, origin='lower', cmap='gray')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 175,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "<matplotlib.image.AxesImage at 0x7f4278ae4eb0>"
      ]
     },
     "execution_count": 175,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
     "data": {
      "image/png": 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",
      "text/plain": [
       "<Figure size 720x720 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "plt.figure(figsize=(10, 10))\n",
    "centerline = skeletonize(centers)\n",
    "plt.imshow(centerline, origin='lower', cmap='gray')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 176,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "<matplotlib.image.AxesImage at 0x7f4278a56760>"
      ]
     },
     "execution_count": 176,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
     "data": {
      "image/png": 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",
      "text/plain": [
       "<Figure size 720x720 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "# The centerline has the track width encoded\n",
    "plt.figure(figsize=(10, 10))\n",
    "centerline_dist = np.where(centerline, dist_transform, 0)\n",
    "plt.imshow(centerline_dist, origin='lower', cmap='gray')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 177,
   "metadata": {},
   "outputs": [],
   "source": [
    "LEFT_START_Y = map_height // 2 - 120"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 178,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Starting position for left edge: 238 880\n"
     ]
    }
   ],
   "source": [
    "NON_EDGE = 0.0\n",
    "# Use DFS to extract the outer edge\n",
    "left_start_y = LEFT_START_Y\n",
    "left_start_x = 0\n",
    "while (centerline_dist[left_start_y][left_start_x] == NON_EDGE): \n",
    "\tleft_start_x += 1\n",
    "\n",
    "print(f\"Starting position for left edge: {left_start_x} {left_start_y}\")"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 179,
   "metadata": {},
   "outputs": [],
   "source": [
    "# Run DFS\n",
    "import sys\n",
    "sys.setrecursionlimit(20000)\n",
    "\n",
    "visited = {}\n",
    "centerline_points = []\n",
    "track_widths = []\n",
    "# DIRECTIONS = [(0, 1), (1, 0), (0, -1), (-1, 0), (1, 1), (1, -1), (-1, 1), (-1, -1)]\n",
    "# If you want the other direction first\n",
    "DIRECTIONS = [(0, -1), (-1, 0),  (0, 1), (1, 0), (-1, 1), (-1, -1), (1, 1), (1, -1) ]\n",
    "\n",
    "starting_point = (left_start_x, left_start_y)\n",
    "\n",
    "def dfs(point):\n",
    "\tif (point in visited): return\n",
    "\tvisited[point] = True\n",
    "\tcenterline_points.append(np.array(point))\n",
    "\ttrack_widths.append(np.array([centerline_dist[point[1]][point[0]], centerline_dist[point[1]][point[0]]]))\n",
    "\n",
    "\tfor direction in DIRECTIONS:\n",
    "\t\tif (centerline_dist[point[1] + direction[1]][point[0] + direction[0]] != NON_EDGE and (point[0] + direction[0], point[1] + direction[1]) not in visited):\n",
    "\t\t\tdfs((point[0] + direction[0], point[1] + direction[1]))\n",
    "\n",
    "dfs(starting_point)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 180,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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",
      "text/plain": [
       "<Figure size 1440x360 with 4 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "fig, (ax1,ax2,ax3, ax4) = plt.subplots(1, 4, figsize=(20,5))\n",
    "ax1.axis('off')\n",
    "ax2.axis('off')\n",
    "ax3.axis('off')\n",
    "ax4.axis('off')\n",
    "\n",
    "centerline_img = np.zeros(map_img.shape)\n",
    "for x,y in centerline_points[:len(centerline_points)//10]:\n",
    "\tcenterline_img[y][x] = 255\n",
    "ax1.imshow(centerline_img, cmap='Greys', vmax=1, origin='lower')\n",
    "ax1.set_title(\"First 10% points\")\n",
    "\n",
    "centerline_img = np.zeros(map_img.shape)\n",
    "for x,y in centerline_points[:len(centerline_points)//4]:\n",
    "\tcenterline_img[y][x] = 255\n",
    "ax2.imshow(centerline_img, cmap='Greys', vmax=1, origin='lower')\n",
    "ax2.set_title(\"First 25% points\")\n",
    "\n",
    "centerline_img = np.zeros(map_img.shape)\n",
    "for x,y in centerline_points[:int(len(centerline_points)/1.4)]:\n",
    "\tcenterline_img[y][x] = 255\n",
    "ax3.imshow(centerline_img, cmap='Greys', vmax=1, origin='lower')\n",
    "ax3.set_title(\"First 50% points\")\n",
    "\n",
    "centerline_img = np.zeros(map_img.shape)\n",
    "for x,y in centerline_points:\n",
    "\tcenterline_img[y][x] = 1000\n",
    "ax4.imshow(centerline_img, cmap='Greys', vmax=1, origin='lower')\n",
    "ax4.set_title(\"All points\")\n",
    "fig.tight_layout()"
   ]
  },
  {
   "attachments": {},
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Conversion\n",
    "Convert into Pandas, and go from pixels to meters, and then shift by the origin."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 181,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "[array([15.65247584, 15.65247584]),\n",
       " array([16.1245155, 16.1245155]),\n",
       " array([15.65247584, 15.65247584]),\n",
       " array([16.1245155, 16.1245155]),\n",
       " array([15.65247584, 15.65247584]),\n",
       " array([16.1245155, 16.1245155]),\n",
       " array([15.65247584, 15.65247584]),\n",
       " array([16.1245155, 16.1245155]),\n",
       " array([15.65247584, 15.65247584]),\n",
       " array([16.1245155, 16.1245155]),\n",
       " array([15.65247584, 15.65247584]),\n",
       " array([16.1245155, 16.1245155]),\n",
       " array([15.65247584, 15.65247584]),\n",
       " array([16.1245155, 16.1245155]),\n",
       " array([15.65247584, 15.65247584]),\n",
       " array([16.1245155, 16.1245155]),\n",
       " array([15.65247584, 15.65247584]),\n",
       " array([16.1245155, 16.1245155]),\n",
       " array([15.65247584, 15.65247584]),\n",
       " array([16.1245155, 16.1245155]),\n",
       " array([15.65247584, 15.65247584]),\n",
       " array([16.1245155, 16.1245155]),\n",
       " array([15.65247584, 15.65247584]),\n",
       " array([16.1245155, 16.1245155]),\n",
       " array([15.8113883, 15.8113883]),\n",
       " array([16.1245155, 16.1245155]),\n",
       " array([16.1245155, 16.1245155]),\n",
       " array([16.1245155, 16.1245155]),\n",
       " array([16.1245155, 16.1245155]),\n",
       " array([15.65247584, 15.65247584]),\n",
       " array([16.1245155, 16.1245155]),\n",
       " array([15.65247584, 15.65247584]),\n",
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       " array([15.65247584, 15.65247584]),\n",
       " array([16.1245155, 16.1245155]),\n",
       " array([15.65247584, 15.65247584]),\n",
       " array([16.1245155, 16.1245155]),\n",
       " array([15.8113883, 15.8113883]),\n",
       " array([16.1245155, 16.1245155]),\n",
       " array([16.1245155, 16.1245155]),\n",
       " array([15.8113883, 15.8113883]),\n",
       " array([16.1245155, 16.1245155]),\n",
       " array([15.65247584, 15.65247584]),\n",
       " array([16.1245155, 16.1245155]),\n",
       " array([15.65247584, 15.65247584]),\n",
       " array([16.1245155, 16.1245155]),\n",
       " array([15.65247584, 15.65247584]),\n",
       " array([16.1245155, 16.1245155]),\n",
       " array([15.65247584, 15.65247584]),\n",
       " array([16.1245155, 16.1245155]),\n",
       " array([15.65247584, 15.65247584]),\n",
       " array([16.1245155, 16.1245155]),\n",
       " array([15.65247584, 15.65247584]),\n",
       " array([16.1245155, 16.1245155]),\n",
       " array([15.65247584, 15.65247584]),\n",
       " array([16.1245155, 16.1245155]),\n",
       " array([15.65247584, 15.65247584]),\n",
       " array([16.1245155, 16.1245155]),\n",
       " array([15.65247584, 15.65247584]),\n",
       " array([16.1245155, 16.1245155]),\n",
       " ...]"
      ]
     },
     "execution_count": 181,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "track_widths"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 182,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Track widths shape: (4726, 2), waypoints shape: (4726, 2)\n"
     ]
    }
   ],
   "source": [
    "track_widths_np = np.array(track_widths)\n",
    "waypoints = np.array(centerline_points)\n",
    "print(f\"Track widths shape: {track_widths_np.shape}, waypoints shape: {waypoints.shape}\")"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 183,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "(4726, 4)"
      ]
     },
     "execution_count": 183,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "# Merge track with waypoints\n",
    "data = np.concatenate((waypoints, track_widths_np), axis=1)\n",
    "data.shape"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 184,
   "metadata": {},
   "outputs": [],
   "source": [
    "# load map yaml\n",
    "with open(map_yaml_path, 'r') as yaml_stream:\n",
    "    try:\n",
    "        map_metadata = yaml.safe_load(yaml_stream)\n",
    "        map_resolution = map_metadata['resolution']\n",
    "        origin = map_metadata['origin']\n",
    "    except yaml.YAMLError as ex:\n",
    "        print(ex)\n",
    "\n",
    "# calculate map parameters\n",
    "orig_x = origin[0]\n",
    "orig_y = origin[1]\n",
    "# ??? Should be 0\n",
    "orig_s = np.sin(origin[2])\n",
    "orig_c = np.cos(origin[2])\n",
    "\n",
    "# get the distance transform\n",
    "transformed_data = data\n",
    "transformed_data *= map_resolution\n",
    "transformed_data += np.array([orig_x, orig_y, 0, 0])\n",
    "\n",
    "# Safety margin\n",
    "transformed_data -= np.array([0, 0, TRACK_WIDTH_MARGIN, TRACK_WIDTH_MARGIN])"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 185,
   "metadata": {},
   "outputs": [],
   "source": [
    "# Uncomment this if you get the following error: raise IOError(\"At least two spline normals are crossed, check input or increase smoothing factor!\")\n",
    "# transformed_data = transformed_data[::4]"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 186,
   "metadata": {},
   "outputs": [],
   "source": [
    "with open(f\"inputs/tracks/{MAP_NAME}.csv\", 'wb') as fh:\n",
    "    np.savetxt(fh, transformed_data, fmt='%0.4f', delimiter=',', header='x_m,y_m,w_tr_right_m,w_tr_left_m')"
   ]
  },
  {
   "attachments": {},
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Next up, check out `sanity_check.ipynb` to make sure that the centerline generated lines up with the map."
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": []
  }
 ],
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