Class MapHdl

Defined in File map_handler.hpp

Inheritance Relationships

Derived Types

public tuw::GeoHdl (Class GeoHdl)
public tuw::WorldScopedMaps (Class WorldScopedMaps)

Class Documentation

class MapHdl

class to handle transformations form world system [meter] to image system [pixel]

Subclassed by tuw::GeoHdl, tuw::WorldScopedMaps

Public Functions

MapHdl()

virtual ~MapHdl() = default

MapHdl(const MapHdl&) = default

MapHdl &operator=(const MapHdl&) = default

MapHdl(MapHdl&&) = default

MapHdl &operator=(MapHdl&&) = default

void init(int width_pixel, int height_pixel, cv::Matx33d Mw2m)

used to initialize the figure

Parameters:

width_pixel – pixel size of the canvas
height_pixel – pixel size of the canvas
Mw2m – transformation world to map

std::string info_map() const

Returns:: map information as string to print

void init(cv::Size canvas_size, double resolution, cv::Point2d origin, double rotation = 0.)

used to initialize the figure

Parameters:

canvas_size – pixel size of the canvas [pix]
resolution – resolution size of a pixel [m/pix]
origin – origin in relative to the top left [m]
rotation – origin in relative to the top left [m]

void init(int width_pixel, int height_pixel, double min_x, double max_x, double min_y, double max_y, double rotation = 0, bool enforce_positive_axis = true)

used to initialize the figure

Parameters:

width_pixel – pixel size of the canvas
height_pixel – pixel size of the canvas
min_x – minimal x of the visualized space
max_x – maximal x of the visualized space
min_y – minimal y of the visualized space
max_y – maximal y of the visualized space
rotation – rotation of the visualized spaces
enforce_positive_axis – on true it will check that min_y < max_y and min_x < max_x and corrects if needed

template<typename T> inline void init(const T &metadata)

used to initialize the figure based on a ROS nav_msgs/MapMetaData

Parameters:: T – nav_msgs/MapMetaData

bool initialized()

Returns:: true if the figure is initialized

const cv::Matx33d &Mw2m() const

Returns:: transformation matrix from the visualization space to image space (world -> map)

const cv::Matx33d &Mm2w() const

Returns:: transformation matrix from the image space to visualization space (map -> world)

Point2D w2m(const Point2D &src) const

transforms a point from the visualization space to image space (world -> map)

Parameters:: src – point in visualization space (world)
Returns:: point in image space (map [pixel])

Point2D w2m(double x, double y) const

transforms a point from the visualization space to image space (world -> map)

Parameters:

x – x coordinate in visualization space (world) eg. [m]
y – y coordinate in visualization space (world) eg. [m]

Returns:

point in image space eg. [pixel]

Point2D &w2m(const Point2D &src, Point2D &des) const

transforms a point from the visualization space to image space (world -> map)

Parameters:

src – point in visualization space (world)
des – point in image space (map [pixel])

Returns:

reference to des

cv::Point2d &w2m(const cv::Point2d &src, cv::Point2d &des) const

transforms a point from the visualization space to image space (world -> map)

Parameters:

src – point in visualization space (world)
des – point in image space (map [pixel])

Returns:

reference to des

cv::Point w2m(const cv::Point2d &src) const

transforms a point from the visualization space to image space (world -> map)

Parameters:: src – point in visualization space (world)
Returns:: point in image space (map [pixel])

cv::Point &w2m(const cv::Point2d &src, cv::Point &des) const

transforms a point from the visualization space to image space (world -> map)

Parameters:

src – point in visualization space (world)
des – point in image space (map [pixel])

Returns:

reference to des

Point2D m2w(const Point2D &src) const