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MRXT: The Multi-Robot eXploration Tool
Multi-Robot autonomous exploration and mapping simulator.
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MRXT: The Multi-Robot eXploration Tool
Multi-Robot autonomous exploration and mapping simulator.
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Implements a binary gridmap. More...
#include <binMap.h>
Public Member Functions | |
| binMap () | |
| Default Constructor. | |
| binMap (const binMap &map) | |
| Copy Constructor. | |
| binMap (int w, int h) | |
| Constructor with size in pixels. | |
| binMap (int w, int h, float res, float x, float y) | |
| Constructor with size in pixels and related to real coordinates. | |
| binMap (float w, float h, float res, float x, float y) | |
| Constructor with size in meters and related to real coordinates. | |
| virtual | ~binMap () |
| Destructor. | |
| void | add (const binMap &map) |
| logic or cell to cell | |
| void | clear () |
| clears the binMap | |
| void | closing (int rad) |
| computer vision closing function | |
| int | cluster (std::vector< clusterCell > &clusterList, int minSize) const |
| Recursive method to find clusters of connected components in the binMap. | |
| int | count () const |
| Counts the number of 1 values. | |
| void | dilate (int rad) |
| computer vision dilation function | |
| void | erode (int rad) |
| computer vision erosion function | |
| bool | get (int x, int y) const |
| get pixel value | |
| int | getHeight () const |
| returns the height of the grid map | |
| IplImage * | getMapAsImage () const |
| Get the map as a new opencv image. | |
| int | getPositives (std::vector< point > &positives) const |
| Adds to the vector the coordinates of all the cells that have a 1 value. | |
| float | getResolution () const |
| returns the grid map resolution in meters | |
| const RoI & | getRoi () const |
| Returns the region of interest. | |
| int | getWidth () const |
| returns the width of the grid map | |
| float | getXOrigin () const |
| returns the x real coordinates of pixel(0,0) | |
| float | getYOrigin () const |
| returns the y real coordinates of pixel(0,0) | |
| void | initialize (int w, int h) |
| Initializes with size in pixels. | |
| void | initialize (int w, int h, float res, float x, float y) |
| Initializes with size in pixels and related to real coordinates. | |
| void | initialize (float w, float h, float res, float x, float y) |
| Initializes with size in meters and related to real coordinates. | |
| void | invert () |
| logic and cell to cell | |
| bool | isInside (int x, int y, int size) const |
| checks if all cells in a mask of defined size is true | |
| bool | isInsideD (int x, int y) const |
| checks if a 1px diamant over that cell is inside the binmap | |
| bool | isOver (int x, int y, int size) const |
| Checks if at least one cell in a mask of defined size is true. | |
| void | line (int x1, int y1, int x2, int y2) |
| Draws a line. | |
| void | opening (int rad) |
| computer vision opening function | |
| binMap & | operator= (const binMap &) |
| assigment operator | |
| void | removeUnconnected (int x, int y) |
| removes unconnected pixel from one point | |
| void | saveMapAsImage (const char *file) const |
| Save function. | |
| void | set (int x, int y, bool value) |
| set pixel value | |
| void | set (const std::vector< clusterCell > &cl) |
| set cells from cluster cell | |
| void | setResolution (float res) |
| sets the grid map resolution in meters | |
| void | setRoi (const RoI &roi) |
| Sets the region of interest. | |
| void | setXOrigin (float xori) |
| sets the x real coordinates of pixel(0,0) | |
| void | setYOrigin (float yori) |
| sets the y real coordinates of pixel(0,0) | |
| void | showMap (const char *windowname) const |
| Show binMap. | |
| void | sub (const binMap &map) |
| subtraction cell to cell | |
| void | times (const binMap &map) |
| logic and cell to cell | |
Private Member Functions | |
| bool | clustering (const int &i, const int &j, binMap &aux, clusterCell &cl, std::list< point > &seq, bool backfront) const |
| auxiliary method of the cluster function | |
| void | remUnconnectRec (int x, int y, const binMap &prevData) |
| auxiliary method to remove unconnected pixels | |
Private Attributes | |
| std::vector< std::bitset< 32 > > | cells |
| unsigned short | height |
| float | resolution |
| RoI | roi |
| unsigned short | totalsize |
| unsigned short | width |
| float | xorigin |
| float | yorigin |
1.7.6.1
