Class GridMapCvConverter

Class Documentation

class GridMapCvConverter

Conversions between grid maps and OpenCV images.

Public Static Functions

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

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

optional) position the position of the grid map.

Parameters:

  • image – [in] the image.

  • resolution – [in] the desired resolution of the grid map [m/cell].

  • gridMap – [out] the grid map to be initialized.

Param :

Returns:

true if successful, false otherwise.

template<typename Type_, int NChannels_>
static inline 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)

Adds a layer with data from image.

optional) lowerValue value of the layer corresponding to black image pixels.

optional) upperValue value of the layer corresponding to white image pixels.

optional) alphaThreshold the threshold ([0.0, 1.0]) for the alpha value at which cells in the grid map are marked as empty.

Parameters:

  • image – [in] the image to be added. If it is a color image (bgr or bgra encoding), it will be transformed in a grayscale image.

  • layer – [in] the layer that is filled with the image data.

  • gridMap – [out] the grid map to be populated.

Param :

Param :

Param :

Returns:

true if successful, false otherwise.

template<typename Type_, int NChannels_>
static inline bool addColorLayerFromImage(const cv::Mat &image, const std::string &layer, grid_map::GridMap &gridMap)

Adds a color layer with data from an image.

Parameters:

  • image – [in] the image to be added (BGR format).

  • layer – [in] the layer that is filled with the image.

  • gridMap – [out] the grid map to be populated.

Returns:

true if successful, false otherwise.

template<typename Type_, int NChannels_>
static inline bool toImage(const grid_map::GridMap &gridMap, const std::string &layer, const int encoding, cv::Mat &image)

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:

  • grid – [in] map to be added.

  • layer – [in] the layer that is converted to the image.

  • encoding – [in] the desired encoding of the image.

  • lowerValue – [in] the value of the layer corresponding to black image pixels.

  • upperValue – [in] the value of the layer corresponding to white image pixels.

  • image – [out] the image to be populated.

Returns:

true if successful, false otherwise.

template<typename Type_, int NChannels_>
static inline bool toImage(const grid_map::GridMap &gridMap, const std::string &layer, const int encoding, const float lowerValue, const float upperValue, cv::Mat &image)

Creates a cv mat from a grid map layer.

Parameters:

  • grid – [in] map to be added.

  • layer – [in] the layer that is converted to the image.

  • encoding – [in] the desired encoding of the image.

  • lowerValue – [in] the value of the layer corresponding to black image pixels.

  • upperValue – [in] the value of the layer corresponding to white image pixels.

  • image – [out] the image to be populated.

Returns:

true if successful, false otherwise.