grid_map::GridMapCvConverter Class Reference

#include <GridMapCvConverter.hpp>

List of all members.

Static Public Member Functions
template<typename Type_ , int NChannels_>
static bool	addColorLayerFromImage (const cv::Mat &image, const std::string &layer, grid_map::GridMap &gridMap)
template<typename Type_ , int NChannels_>
static bool	addLayerFromImage (const cv::Mat &image, const std::string &layer, grid_map::GridMap &gridMap, const float lowerValue=0.0, const float upperValue=1.0, const double alphaThreshold=0.5)
static bool	initializeFromImage (const cv::Mat &image, const double resolution, grid_map::GridMap &gridMap, const grid_map::Position &position)
template<typename Type_ , int NChannels_>
static bool	toImage (const grid_map::GridMap &gridMap, const std::string &layer, const int encoding, cv::Mat &image)
template<typename Type_ , int NChannels_>
static bool	toImage (const grid_map::GridMap &gridMap, const std::string &layer, const int encoding, const float lowerValue, const float upperValue, cv::Mat &image)

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Detailed Description

Conversions between grid maps and OpenCV images.

Definition at line 24 of file GridMapCvConverter.hpp.

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Member Function Documentation

template<typename Type_ , int NChannels_>

static bool grid_map::GridMapCvConverter::addColorLayerFromImage	(	const cv::Mat &	image,
		const std::string &	layer,
		grid_map::GridMap &	gridMap
	)		[inline, static]

Adds a color layer with data from an image.

Parameters:

[in]	image	the image to be added (BGR format).
[in]	layer	the layer that is filled with the image.
[out]	gridMap	the grid map to be populated.

Returns:

true if successful, false otherwise.

Definition at line 128 of file GridMapCvConverter.hpp.

template<typename Type_ , int NChannels_>

static bool grid_map::GridMapCvConverter::addLayerFromImage	(	const cv::Mat &	image,
		const std::string &	layer,
		grid_map::GridMap &	gridMap,
		const float	lowerValue = 0.0,
		const float	upperValue = 1.0,
		const double	alphaThreshold = 0.5
	)		[inline, static]

Adds a layer with data from image.

Parameters:

[in]	image	the image to be added. If it is a color image (bgr or bgra encoding), it will be transformed in a grayscale image.
[in]	layer	the layer that is filled with the image data.
[out]	gridMap	the grid map to be populated.
[in]	optional)	lowerValue value of the layer corresponding to black image pixels.
[in]	optional)	upperValue value of the layer corresponding to white image pixels.
[in]	optional)	alphaThreshold the threshold ([0.0, 1.0]) for the alpha value at which cells in the grid map are marked as empty.

Returns:

true if successful, false otherwise.

Definition at line 59 of file GridMapCvConverter.hpp.

static bool grid_map::GridMapCvConverter::initializeFromImage	(	const cv::Mat &	image,
		const double	resolution,
		grid_map::GridMap &	gridMap,
		const grid_map::Position &	position
	)		[inline, static]

Initializes the geometry of a grid map from an image. This changes the geometry of the map and deletes all contents of the layers!

Parameters:

[in]	image	the image.
[in]	resolution	the desired resolution of the grid map [m/cell].
[out]	gridMap	the grid map to be initialized.
[in]	optional)	position the position of the grid map.

Returns:

true if successful, false otherwise.

Definition at line 36 of file GridMapCvConverter.hpp.

template<typename Type_ , int NChannels_>

static bool grid_map::GridMapCvConverter::toImage	(	const grid_map::GridMap &	gridMap,
		const std::string &	layer,
		const int	encoding,
		cv::Mat &	image
	)		[inline, static]

Creates a cv mat from a grid map layer. This conversion sets the corresponding black and white pixel value to the min. and max. data of the layer data.

Parameters:

[in]	grid	map to be added.
[in]	layer	the layer that is converted to the image.
[in]	encoding	the desired encoding of the image.
[in]	lowerValue	the value of the layer corresponding to black image pixels.
[in]	upperValue	the value of the layer corresponding to white image pixels.
[out]	image	the image to be populated.

Returns:

true if successful, false otherwise.

Definition at line 173 of file GridMapCvConverter.hpp.

template<typename Type_ , int NChannels_>

static bool grid_map::GridMapCvConverter::toImage	(	const grid_map::GridMap &	gridMap,
		const std::string &	layer,
		const int	encoding,
		const float	lowerValue,
		const float	upperValue,
		cv::Mat &	image
	)		[inline, static]

Creates a cv mat from a grid map layer.

Parameters:

[in]	grid	map to be added.
[in]	layer	the layer that is converted to the image.
[in]	encoding	the desired encoding of the image.
[in]	lowerValue	the value of the layer corresponding to black image pixels.
[in]	upperValue	the value of the layer corresponding to white image pixels.
[out]	image	the image to be populated.

Returns:

true if successful, false otherwise.

Definition at line 192 of file GridMapCvConverter.hpp.

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

• GridMapCvConverter.hpp