tuw::WorldScopedMaps Class Reference

#include <world_scoped_maps.h>

Inheritance diagram for tuw::WorldScopedMaps:

Public Member Functions
template<typename T >
void	circle (T &map, const Point2D &p, int radius, const cv::Scalar &color, int thickness=1, int lineType=CV_AA) const
template<typename T >
cv::Scalar_< T >	get (cv::Mat_< T > &map, const Point2D &p) const
int	height () const
std::string	infoHeader () const
void	init (int width_pixel, int height_pixel, double min_y, double max_y, double min_x, double max_x, double rotation=0)
template<typename T >
void	init (const T &metadata)
bool	initialized ()
template<typename T >
void	line (T &map, const Point2D &p0, const Point2D &p1, const cv::Scalar &color, int thickness=1, int lineType=CV_AA) const
Point2D	m2w (const Point2D &src) const
Point2D	m2w (double x, double y) const
Point2D &	m2w (const Point2D &src, Point2D &des) const
double	max_x () const
double	max_y () const
double	min_x () const
double	min_y () const
const cv::Matx33d &	Mm2w () const
const cv::Matx33d &	Mw2m () const
WorldScopedMaps &	operator= (const WorldScopedMaps &)=default
WorldScopedMaps &	operator= (WorldScopedMaps &&)=default
double	scale_w2m (double v) const
double	scale_x () const
double	scale_y () const
Point2D	w2m (const Point2D &src) const
Point2D	w2m (double x, double y) const
Point2D &	w2m (const Point2D &src, Point2D &des) const
int	width () const
	WorldScopedMaps ()
	WorldScopedMaps (const WorldScopedMaps &)=default
	WorldScopedMaps (WorldScopedMaps &&)=default
virtual	~WorldScopedMaps ()=default

Private Member Functions
void	init ()
	initializes the transformation matrices More...

Private Attributes
double	dx_
double	dy_
	dimension of the visualized space More...
int	height_pixel_
	dimensions of the canvas in pixel More...
double	max_x_
double	max_y_
double	min_x_
double	min_y_
cv::Matx33d	Mm2w_
	transformation map to world More...
cv::Matx33d	Mw2m_
	transformation world to map More...
double	mx_
double	my_
	offset of the visualized space More...
double	ox_
double	oy_
	image offset More...
double	rotation_
	area and rotation of the visualized space More...
double	sx_
double	sy_
	scale More...
int	width_pixel_

Detailed Description

class to visualize information using OpenCV matrices

Definition at line 17 of file world_scoped_maps.h.

Constructor & Destructor Documentation

WorldScopedMaps() [1/3]

WorldScopedMaps::WorldScopedMaps

(

)

Definition at line 13 of file world_scoped_maps.cpp.

~WorldScopedMaps()

virtual tuw::WorldScopedMaps::~WorldScopedMaps ( )

virtualdefault

WorldScopedMaps() [2/3]

tuw::WorldScopedMaps::WorldScopedMaps ( const WorldScopedMaps &  )

default

WorldScopedMaps() [3/3]

tuw::WorldScopedMaps::WorldScopedMaps ( WorldScopedMaps &&  )

default

Member Function Documentation

circle()

template<typename T >

void tuw::WorldScopedMaps::circle ( T &  map, const Point2D &  p, int  radius, const cv::Scalar &  color, int  thickness = 1, int  lineType = CV_AA  ) const

inline

draws a circle given in the visualization space (meter, ....) into a pixel map

Parameters

map	opencv matrix
p	location
radius	radius
color	color –>

See also

opencv

Parameters

thickness

line thickness –>

See also

opencv

Parameters

lineType

line type –>

See also

opencv

Definition at line 108 of file world_scoped_maps.h.

get()

template<typename T >

cv::Scalar_<T> tuw::WorldScopedMaps::get ( cv::Mat_< T > &  map, const Point2D &  p  ) const

inline

return a copy of the value located at p in the visual space (meter, ....)

Parameters

map	opencv matrix
p	location

Definition at line 118 of file world_scoped_maps.h.

height()

int WorldScopedMaps::height

(

)

const

Returns

canvas (image) height

Definition at line 102 of file world_scoped_maps.cpp.

infoHeader()

std::string WorldScopedMaps::infoHeader

(

)

const

returns information about the maps metadata

Parameters

format

using printf format

Returns

string

Definition at line 109 of file world_scoped_maps.cpp.

init() [1/3]

void WorldScopedMaps::init ( )

private

initializes the transformation matrices

Definition at line 24 of file world_scoped_maps.cpp.

init() [2/3]

void WorldScopedMaps::init	(	int	width_pixel,
		int	height_pixel,
		double	min_y,
		double	max_y,
		double	min_x,
		double	max_x,
		double	rotation = 0
	)

used to initialize the figure

Parameters

width_pixel	pixel size of the canvas
height_pixel	pixel size of the canvas
min_y	minimal y of the visualized space
max_y	maximal y of the visualized space
min_x	minimal x of the visualized space
max_x	maximal x of the visualized space
rotation	rotation of the visualized spaces

Definition at line 44 of file world_scoped_maps.cpp.

init() [3/3]

template<typename T >

void tuw::WorldScopedMaps::init ( const T &  metadata )

inline

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

Parameters

T	nav_msgs/MapMetaData

Definition at line 54 of file world_scoped_maps.h.

initialized()

bool WorldScopedMaps::initialized

(

)

Returns

true if the figure is initialized

Definition at line 20 of file world_scoped_maps.cpp.

line()

template<typename T >

void tuw::WorldScopedMaps::line ( T &  map, const Point2D &  p0, const Point2D &  p1, const cv::Scalar &  color, int  thickness = 1, int  lineType = CV_AA  ) const

inline

draws a line given in the visualization space (meter, ....) into a pixel map

Parameters

map	opencv matrix
p0	start point
p1	end point
color	color –>

See also

opencv

Parameters

thickness

line thickness –>

See also

opencv

Parameters

lineType

line type –>

See also

opencv

Definition at line 95 of file world_scoped_maps.h.

m2w() [1/3]

Point2D WorldScopedMaps::m2w

(

const Point2D &

src

)

const

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

Parameters

src	point in image space (map [pixel])

Returns

point in visualization space (world)

Definition at line 71 of file world_scoped_maps.cpp.

m2w() [2/3]

Point2D WorldScopedMaps::m2w	(	double	x,
		double	y
	)		const

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

Parameters

x	x coordinate in image space eg. [pixel]
y	y coordinate in image space eg. [pixel]

Returns

point in visualization space (world) eg. [m]

Definition at line 74 of file world_scoped_maps.cpp.

m2w() [3/3]

Point2D & WorldScopedMaps::m2w	(	const Point2D &	src,
		Point2D &	des
	)		const

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

Parameters

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

Returns

reference to des

Definition at line 77 of file world_scoped_maps.cpp.

max_x()

double WorldScopedMaps::max_x

(

)

const

Returns

maximal x of the visualized space

Definition at line 81 of file world_scoped_maps.cpp.

max_y()

double WorldScopedMaps::max_y

(

)

const

Returns

maximal y of the visualized space

Definition at line 90 of file world_scoped_maps.cpp.

min_x()

double WorldScopedMaps::min_x

(

)

const

Returns

minimal x of the visualized space

Definition at line 84 of file world_scoped_maps.cpp.

min_y()

double WorldScopedMaps::min_y

(

)

const

Returns

minimal y of the visualized space

Definition at line 93 of file world_scoped_maps.cpp.

Mm2w()

const cv::Matx33d & WorldScopedMaps::Mm2w

(

)

const

Returns

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

Definition at line 58 of file world_scoped_maps.cpp.

Mw2m()

const cv::Matx33d & WorldScopedMaps::Mw2m

(

)

const

Returns

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

Definition at line 55 of file world_scoped_maps.cpp.

operator=() [1/2]

WorldScopedMaps& tuw::WorldScopedMaps::operator= ( const WorldScopedMaps &  )

default

operator=() [2/2]

WorldScopedMaps& tuw::WorldScopedMaps::operator= ( WorldScopedMaps &&  )

default

scale_w2m()

double WorldScopedMaps::scale_w2m

(

double

v

)

const

returns a distance measure scaled

Parameters

v	value to be scaledt

Returns

distance

Definition at line 106 of file world_scoped_maps.cpp.

scale_x()

double WorldScopedMaps::scale_x

(

)

const

Returns

computed x scale

Definition at line 87 of file world_scoped_maps.cpp.

scale_y()

double WorldScopedMaps::scale_y

(

)

const

Returns

computed y scale

Definition at line 96 of file world_scoped_maps.cpp.

w2m() [1/3]

Point2D WorldScopedMaps::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])

Definition at line 61 of file world_scoped_maps.cpp.

w2m() [2/3]

Point2D WorldScopedMaps::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]

Definition at line 64 of file world_scoped_maps.cpp.

w2m() [3/3]

Point2D & WorldScopedMaps::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

Definition at line 67 of file world_scoped_maps.cpp.

width()

int WorldScopedMaps::width

(

)

const

Returns

canvas (image) width

Definition at line 99 of file world_scoped_maps.cpp.

Member Data Documentation

dx_

double tuw::WorldScopedMaps::dx_

private

Definition at line 22 of file world_scoped_maps.h.

dy_

double tuw::WorldScopedMaps::dy_

private

dimension of the visualized space

Definition at line 22 of file world_scoped_maps.h.

height_pixel_

int tuw::WorldScopedMaps::height_pixel_

private

dimensions of the canvas in pixel

Definition at line 20 of file world_scoped_maps.h.

max_x_

double tuw::WorldScopedMaps::max_x_

private

Definition at line 21 of file world_scoped_maps.h.

max_y_

double tuw::WorldScopedMaps::max_y_

private

Definition at line 21 of file world_scoped_maps.h.

min_x_

double tuw::WorldScopedMaps::min_x_

private

Definition at line 21 of file world_scoped_maps.h.

min_y_

double tuw::WorldScopedMaps::min_y_

private

Definition at line 21 of file world_scoped_maps.h.

Mm2w_

cv::Matx33d tuw::WorldScopedMaps::Mm2w_

private

transformation map to world

Definition at line 19 of file world_scoped_maps.h.

Mw2m_

cv::Matx33d tuw::WorldScopedMaps::Mw2m_

private

transformation world to map

Definition at line 18 of file world_scoped_maps.h.

mx_

double tuw::WorldScopedMaps::mx_

private

Definition at line 24 of file world_scoped_maps.h.

my_

double tuw::WorldScopedMaps::my_

private

offset of the visualized space

Definition at line 24 of file world_scoped_maps.h.

ox_

double tuw::WorldScopedMaps::ox_

private

Definition at line 23 of file world_scoped_maps.h.

oy_

double tuw::WorldScopedMaps::oy_

private

image offset

Definition at line 23 of file world_scoped_maps.h.

rotation_

double tuw::WorldScopedMaps::rotation_

private

area and rotation of the visualized space

Definition at line 21 of file world_scoped_maps.h.

sx_

double tuw::WorldScopedMaps::sx_

private

Definition at line 25 of file world_scoped_maps.h.

sy_

double tuw::WorldScopedMaps::sy_

private

scale

Definition at line 25 of file world_scoped_maps.h.

width_pixel_

int tuw::WorldScopedMaps::width_pixel_

private

Definition at line 20 of file world_scoped_maps.h.

---

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

• world_scoped_maps.h
• world_scoped_maps.cpp