#include <world_scoped_maps.h>

Inheritance diagram for tuw::WorldScopedMaps:

[legend]

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::LINE_AA) const

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

int	height () const

std::string	infoHeader () const

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

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

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::LINE_AA) const

Point2D	m2w (const Point2D &src) const

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

Point2D	m2w (double x, double y) 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 (const Point2D &src, Point2D &des) const

Point2D	w2m (double x, double y) 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 16 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::LINE_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 107 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 117 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]

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 53 of file world_scoped_maps.h.

◆ init() [3/3]

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.

◆ 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::LINE_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 94 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	(	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.

◆ m2w() [3/3]

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.

◆ 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	(	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.

◆ w2m() [3/3]

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.

◆ 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 21 of file world_scoped_maps.h.

◆ dy_

double tuw::WorldScopedMaps::dy_

private

dimension of the visualized space

Definition at line 21 of file world_scoped_maps.h.

◆ height_pixel_

int tuw::WorldScopedMaps::height_pixel_

private

dimensions of the canvas in pixel

Definition at line 19 of file world_scoped_maps.h.

◆ max_x_

double tuw::WorldScopedMaps::max_x_

private

Definition at line 20 of file world_scoped_maps.h.

◆ max_y_

double tuw::WorldScopedMaps::max_y_

private

Definition at line 20 of file world_scoped_maps.h.

◆ min_x_

double tuw::WorldScopedMaps::min_x_

private

Definition at line 20 of file world_scoped_maps.h.

◆ min_y_

double tuw::WorldScopedMaps::min_y_

private

Definition at line 20 of file world_scoped_maps.h.

◆ Mm2w_

cv::Matx33d tuw::WorldScopedMaps::Mm2w_

private

transformation map to world

Definition at line 18 of file world_scoped_maps.h.

◆ Mw2m_

cv::Matx33d tuw::WorldScopedMaps::Mw2m_

private

transformation world to map

Definition at line 17 of file world_scoped_maps.h.

◆ mx_

double tuw::WorldScopedMaps::mx_

private

Definition at line 23 of file world_scoped_maps.h.

◆ my_

double tuw::WorldScopedMaps::my_

private

offset of the visualized space

Definition at line 23 of file world_scoped_maps.h.

◆ ox_

double tuw::WorldScopedMaps::ox_

private

Definition at line 22 of file world_scoped_maps.h.

◆ oy_

double tuw::WorldScopedMaps::oy_

private

image offset

Definition at line 22 of file world_scoped_maps.h.

◆ rotation_

double tuw::WorldScopedMaps::rotation_

private

area and rotation of the visualized space

Definition at line 20 of file world_scoped_maps.h.

◆ sx_

double tuw::WorldScopedMaps::sx_

private

Definition at line 24 of file world_scoped_maps.h.

◆ sy_

double tuw::WorldScopedMaps::sy_

private

scale

Definition at line 24 of file world_scoped_maps.h.

◆ width_pixel_

int tuw::WorldScopedMaps::width_pixel_

private

Definition at line 19 of file world_scoped_maps.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ WorldScopedMaps() [1/3]

◆ ~WorldScopedMaps()

◆ WorldScopedMaps() [2/3]

◆ WorldScopedMaps() [3/3]

Member Function Documentation

◆ circle()

◆ get()

◆ height()

◆ infoHeader()

◆ init() [1/3]

◆ init() [2/3]

◆ init() [3/3]

◆ initialized()

◆ line()

◆ m2w() [1/3]

◆ m2w() [2/3]

◆ m2w() [3/3]

◆ max_x()

◆ max_y()

◆ min_x()

◆ min_y()

◆ Mm2w()

◆ Mw2m()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ scale_w2m()

◆ scale_x()

◆ scale_y()

◆ w2m() [1/3]

◆ w2m() [2/3]

◆ w2m() [3/3]

◆ width()

Member Data Documentation

◆ dx_

◆ dy_

◆ height_pixel_

◆ max_x_

◆ max_y_

◆ min_x_

◆ min_y_

◆ Mm2w_

◆ Mw2m_

◆ mx_

◆ my_

◆ ox_

◆ oy_

◆ rotation_

◆ sx_

◆ sy_

◆ width_pixel_