#include <maps/GridMap.h>

Inheritance diagram for GridMap< T, Channels >:

Public Types
typedef Base::Pixel	CellType

typedef ImgPixel< T, Channels >	Pixel

typedef ImgIterator< ImgPixel< T, Channels > >	iterator

typedef ImgConstIterator< ImgPixel< T, Channels > >	const_iterator

Public Member Functions
	GridMap (float cellSize=0.1f)
	Constructs an empty map with a default cell size of 0.1 m. More...

	GridMap (const Size2i &size, float cellSize, const Point2i &offset=Point2i(0, 0))

	GridMap (const Rect2f &region, float cellSize)
	Creates a new grid map that covers the specified region. More...

	GridMap (const Rect2i &region, float cellSize)

	GridMap (const Base &data, float cellSize, const Point2i &offset=Point2i(0, 0))
	Construct a grid map from existing image. More...

float	getCellSize () const
	Returns the size of each cell in meter. More...

Point2i	getOffset () const
	Returns the offset of the map, e.g. the index of the cell that is located in the origin. More...

Point2i	getMapOffset () const
	Provided for backward compatibility. Use getOffset() instead. More...

Point2f	getWorldOffset () const
	Returns the offset of the map in metric coordinates. More...

GridMap &	operator= (const CellType &c)

GridMap	clone () const

Rect2f	getRegion () const
	Returns the region that is covered by the GridMap. More...

Rect2i	getMapRegion () const
	Returns the region that is covered by the GridMap in grid cells. More...

void	grow (const Rect2f &region, const CellType &valueForNewCells)
	Grows the map so that the specified region is covered by the map. More...

void	grow (const Rect2i &region, const CellType &valueForNewCells)

void	grow (const Point2i &growLowerLeftDelta, const Point2i &growUpperRightDelta, const CellType &valueForNewCells)
	Grows the map by decreasing its minCorner by growLowerLeftDelta and increasing its maxCorner by growUpperRightDelta. More...

void	clip (const Rect2i &region, const CellType &valueForNewCells)
	Grows and optionally crops the map to cover the specified region while minimizing copying of memory. More...

void	clip (const Rect2f &region, const CellType &valueForNewCells)

Point2i	world2map (const Point2f &p, bool roundDown=true) const
	Convert a given point to map coordinates. More...

Point2f	world2mapf (const Point2f &p) const
	Convert a given point to map coordinates. More...

Point2f	map2world (const Point2i &p) const
	Convert a given point to world coordinates. More...

Point2f	map2world (const Point2f &p) const
	Convert a given point to world coordinates. More...

Rect2i	world2map (const Rect2f &r, bool includeBorder=true) const
	Returns the Rect in cell coordinates that is covered by the given rect that is specified in world coordinates. More...

template<typename Derived >
void	reflect (BinarySerializer< Derived > &r)
	Reflect method for serialization. More...

template<typename Derived >
void	reflect (BinaryDeserializer< Derived > &r)
	Reflect method for deserialization. More...

void	reflect (JSONSerializer &r)
	Reflect method for text visualization. More...

ImgPixel< T, Channels > *	operator[] (int y)

const ImgPixel< T, Channels > *	operator[] (int y) const

Img< T, Channels >	operator() (const cv::Rect &roi)

Img< T, Channels >	operator() (const cv::Rect &roi) const

ImgPixel< T, Channels > &	operator() (int x, int y)

const ImgPixel< T, Channels > &	operator() (int x, int y) const

ImgPixel< T, Channels > &	operator() (const cv::Point &p)

const ImgPixel< T, Channels > &	operator() (const cv::Point &p) const

iterator	begin ()

const_iterator	begin () const

iterator	end ()

const_iterator	end () const

	operator const cv::Mat & () const

	operator cv::Mat & ()

void	assignROI (const cv::Rect &roi, const ImgBase &other)

void	assignMask (const cv::Rect &roi, const ImgBase &other, const cv::Mat &mask)

void	assignPolygon (const cv::Rect &roi, const ImgBase &other, const Polygon2i &poly)

bool	operator== (const cv::Mat &other) const

bool	operator!= (const cv::Mat &other) const

const cv::Mat &	getMat () const

bool	empty () const

int	width () const

int	height () const

std::size_t	step () const

std::size_t	bytesPerLine () const

Size2i	size () const

int	depth () const

int	channels () const

bool	isEmpty () const

uint8 *	data ()

const uint8 *	data () const

uint8 *	data (int y)

const uint8 *	data (int y) const

ImgFormat	format () const

void	resize (const Size2i &s)

void	resize (int width, int height)

void	clear ()

std::size_t	total () const

Static Public Member Functions
static Img< T, Channels >	convertFrom (const cv::Mat &other, bool alwaysCopy=false)

Public Attributes
	Channels

Protected Types
typedef Img< T, Channels >	Self

Protected Member Functions
Img< T, Channels > *	This ()

const Img< T, Channels > *	This () const

cv::Mat_< ImgPixel< T, Channels > > &	castToMat ()

const cv::Mat_< ImgPixel< T, Channels > > &	castToMat () const

Protected Attributes
float	mCellSize
	width of one cell in m More...

Point2i	mOffset
	cell index that corresponds to the origin of the map More...

cv::Mat	mData

Detailed Description

template<typename T, int Channels = 1>
class mira::maps::GridMap< T, Channels >

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  |
  +—+—+
  |   |v,u|
  +—+—+
  |0,0|0,1|
  +—+—+–>
  0  csize   x

Member Typedef Documentation

◆ CellType

typedef Base::Pixel CellType

Constructor & Destructor Documentation

◆ GridMap() [1/5]

GridMap ( float cellSize = 0.1f )

inlineexplicit

Constructs an empty map with a default cell size of 0.1 m.

The cell size can only be changed by assigning a new Gridmap with the desired cellsize.

◆ GridMap() [2/5]

GridMap	(	const Size2i &	size,
		float	cellSize,
		const Point2i &	offset = `Point2i(0, 0)`
	)

inline

◆ GridMap() [3/5]

GridMap	(	const Rect2f &	region,
		float	cellSize
	)

inline

Creates a new grid map that covers the specified region.

The created map is guaranteed to cover the whole specified region. Note that the width and height of the created map may differ, if the width or height of the specified region is not a multiple of the specified cellSize. The width and height will be increased to the next multiple of the cellSize.

◆ GridMap() [4/5]

GridMap	(	const Rect2i &	region,
		float	cellSize
	)

inline

◆ GridMap() [5/5]

GridMap	(	const Base &	data,
		float	cellSize,
		const Point2i &	offset = `Point2i(0, 0)`
	)

inline

Construct a grid map from existing image.

In addition to the image, the cell size (in meter) must be specified.

Member Function Documentation

◆ getCellSize()

float getCellSize ( ) const

inline

Returns the size of each cell in meter.

◆ getOffset()

Point2i getOffset ( ) const

inline

Returns the offset of the map, e.g. the index of the cell that is located in the origin.

◆ getMapOffset()

Point2i getMapOffset ( ) const

inline

Provided for backward compatibility. Use getOffset() instead.

◆ getWorldOffset()

Point2f getWorldOffset ( ) const

inline

Returns the offset of the map in metric coordinates.

◆ operator=()

GridMap& operator= ( const CellType & c )

inline

◆ clone()

GridMap clone ( ) const

inline

◆ getRegion()

Rect2f getRegion ( ) const

inline

Returns the region that is covered by the GridMap.

◆ getMapRegion()

Rect2i getMapRegion ( ) const

inline

Returns the region that is covered by the GridMap in grid cells.

◆ grow() [1/3]

void grow	(	const Rect2f &	region,
		const CellType &	valueForNewCells
	)

inline

Grows the map so that the specified region is covered by the map.

New cells are initialized with the specified value. If the region is already covered by the map this method does nothing. Note that, if the map is resized, data from the old map will be copied into the new map. This may result in performance penalties, if the map is resized very often. Additionally, the specified value for new cells is copied using a memcpy. This is allowed since the GridMap class can be used for POD types only.

◆ grow() [2/3]

void grow	(	const Rect2i &	region,
		const CellType &	valueForNewCells
	)

inline

◆ grow() [3/3]

void grow	(	const Point2i &	growLowerLeftDelta,
		const Point2i &	growUpperRightDelta,
		const CellType &	valueForNewCells
	)

inline

Grows the map by decreasing its minCorner by growLowerLeftDelta and increasing its maxCorner by growUpperRightDelta.

Parameters

growLowerLeftDelta	margin by which the minCorner is decreased. Must not be negative
growUpperRightDelta	margin by which the mayCorner is increased. Must not be negative
valueForNewCells	The value for cells that are newly added

◆ clip() [1/2]

void clip	(	const Rect2i &	region,
		const CellType &	valueForNewCells
	)

inline

Grows and optionally crops the map to cover the specified region while minimizing copying of memory.

Parameters

region	The new region that is covered by the map
valueForNewCells	The value for cells that are newly added

◆ clip() [2/2]

void clip	(	const Rect2f &	region,
		const CellType &	valueForNewCells
	)

inline

◆ world2map() [1/2]

Point2i world2map	(	const Point2f &	p,
		bool	roundDown = `true`
	)		const

inline

Convert a given point to map coordinates.

Parameters

[in]	p	Point in world coordinates
[in]	roundDown	If true, use std::floor for rounding, else use std::ceil

Returns: Point in map coordinates

Note: The point is not checked if it exceeds the boundaries of the map

◆ world2mapf()

Point2f world2mapf ( const Point2f & p ) const

inline

Convert a given point to map coordinates.

Parameters

[in] p Point in world coordinates

Returns: Floating-point point in map coordinates.

Note: The point is not checked if it exceeds the boundaries of the map

◆ map2world() [1/2]

Point2f map2world ( const Point2i & p ) const

inline

Convert a given point to world coordinates.

Parameters

[in] p Cell index in map coordinates.

Returns: Point in world coordinates. Specifying the cell's lower-left corner position

◆ map2world() [2/2]

Point2f map2world ( const Point2f & p ) const

inline

Convert a given point to world coordinates.

Parameters

[in] p Point in map coordinates. Specifying an floating-point point in cell coordinates.

Returns: Point in world coordinates.

◆ world2map() [2/2]

Rect2i world2map	(	const Rect2f &	r,
		bool	includeBorder = `true`
	)		const

inline

Returns the Rect in cell coordinates that is covered by the given rect that is specified in world coordinates.

Parameters

includeBorder If true, it is guaranteed, that the returned Rect covers at least the same area as the specified rect. If it is false, the Rect may be smaller.

Note: The rect is not checked if it exceeds the boundaries of the map

◆ reflect() [1/3]

void reflect ( BinarySerializer< Derived > & r )

inline

Reflect method for serialization.

◆ reflect() [2/3]

void reflect ( BinaryDeserializer< Derived > & r )

inline

Reflect method for deserialization.

◆ reflect() [3/3]

void reflect ( JSONSerializer & r )

inline

Reflect method for text visualization.

Member Data Documentation

◆ mCellSize

float mCellSize

protected

width of one cell in m

◆ mOffset

Point2i mOffset

protected

cell index that corresponds to the origin of the map

The documentation for this class was generated from the following file:

include/maps/GridMap.h

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

template<typename T, int Channels = 1> class mira::maps::GridMap< T, Channels >

Member Typedef Documentation

◆ CellType

Constructor & Destructor Documentation

◆ GridMap() [1/5]

◆ GridMap() [2/5]

◆ GridMap() [3/5]

◆ GridMap() [4/5]

◆ GridMap() [5/5]

Member Function Documentation

◆ getCellSize()

◆ getOffset()

◆ getMapOffset()

◆ getWorldOffset()

◆ operator=()

◆ clone()

◆ getRegion()

◆ getMapRegion()

◆ grow() [1/3]

◆ grow() [2/3]

◆ grow() [3/3]

◆ clip() [1/2]

◆ clip() [2/2]

◆ world2map() [1/2]

◆ world2mapf()

◆ map2world() [1/2]

◆ map2world() [2/2]

◆ world2map() [2/2]

◆ reflect() [1/3]

◆ reflect() [2/3]

◆ reflect() [3/3]

Member Data Documentation

◆ mCellSize

◆ mOffset

template<typename T, int Channels = 1>
class mira::maps::GridMap< T, Channels >