Image with pixels of type T Сan own data, be a wrapper over some memory buffer, or refer to a fragment of another image Pixels of one row are stored continuity. But rows continuity is not guaranteed. The distance (number of elements of type T) from row(i) to row(i + 1) is equal to step() More...

#include <nav2_costmap_2d/include/nav2_costmap_2d/denoise/image.hpp>

Public Member Functions
	Image ()=default
	Create empty image.

	Image (size_t rows, size_t columns, T *data, size_t step)
	Create image referencing to a third-party buffer. More...

	Image (const Image &other)
	Create image referencing to the other Share image data between new and old object. Changing data in a new object will affect the given one and vice versa.

	Image (Image &&other) noexcept
	Create image from the other (move constructor)

size_t	rows () const

size_t	columns () const

bool	empty () const

size_t	step () const

T *	row (size_t row)

const T *	row (size_t row) const
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

template<class Functor >
void	forEach (Functor &&fn)
	Read (and modify, if need) each pixel sequentially. More...

template<class Functor >
void	forEach (Functor &&fn) const
	Read each pixel sequentially. More...

template<class TargetElement , class Converter >
void	convert (Image< TargetElement > &target, Converter &&converter) const
	Convert each pixel to corresponding pixel of target using a custom function. More...

Detailed Description

template<class T>
class nav2_costmap_2d::Image< T >

Image with pixels of type T Сan own data, be a wrapper over some memory buffer, or refer to a fragment of another image Pixels of one row are stored continuity. But rows continuity is not guaranteed. The distance (number of elements of type T) from row(i) to row(i + 1) is equal to step()

Template Parameters

T	type of pixel

Definition at line 32 of file image.hpp.

Constructor & Destructor Documentation

◆ Image()

template<class T >

nav2_costmap_2d::Image< T >::Image	(	size_t	rows,
		size_t	columns,
		T *	data,
		size_t	step
	)

Create image referencing to a third-party buffer.

Parameters

rows	number of image rows
columns	number of image columns
data	existing memory buffer with size at least rows * columns
step	offset from row(i) to row(i + 1) in memory buffer (number of elements of type T). offset = columns if rows are stored continuity

Definition at line 128 of file image.hpp.

Member Function Documentation

◆ columns()

template<class T >

size_t nav2_costmap_2d::Image< T >::columns ( ) const

inline

Returns: number of image columns

Definition at line 64 of file image.hpp.

Referenced by nav2_costmap_2d::Image< T >::convert().

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◆ convert()

template<class T >

template<class TargetElement , class Converter >

void nav2_costmap_2d::Image< T >::convert	(	Image< TargetElement > &	target,
		Converter &&	converter
	)		const

Convert each pixel to corresponding pixel of target using a custom function.

The source and target must be the same size. For calculation of new target value the operation can use source value and an optionally current target value. This function call operation(this[i, j], target[i, j]) for each pixel where target[i, j] is mutable

Template Parameters

TargetElement	type of target pixel
Converter	function object. Signature should be equivalent to the following: void fn(const T& src, TargetElement& trg)

Parameters

target	output image with TargetElement-type pixels
operation	the binary operation op is applied to pairs of pixels: first (const) from source and second (mutable) from target

Exceptions

std::logic_error if the source and target of different sizes

Definition at line 184 of file image.hpp.

References nav2_costmap_2d::Image< T >::columns(), nav2_costmap_2d::Image< T >::row(), nav2_costmap_2d::Image< T >::rows(), and nav2_costmap_2d::Image< T >::step().

Referenced by nav2_common.launch.rewritten_yaml.RewrittenYaml::describe().

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