Example #1
0
bool MapGrid2D::getMapImage(yarp::sig::ImageOf<PixelRgb>& image) const
{
    image.setQuantum(1);
    image.resize(m_width, m_height);
    image.zero();
    for (size_t y = 0; y < m_height; y++)
    {
        for (size_t x = 0; x < m_width; x++)
        {
            image.safePixel(x, y) = CellDataToPixel(m_map_flags.safePixel(x, y));
        }
    }
    return true;
}
Example #2
0
bool MapGrid2D::setMapImage(yarp::sig::ImageOf<PixelRgb>& image)
{
    if (image.width() != (int)(m_width) ||
        image.height() != (int)(m_height))
    {
        yError() << "The size of given iamge does not correspond to the current map. Use method setSize() first.";
        return false;
    }
    for (size_t y = 0; y < m_height; y++)
    {
        for (size_t x = 0; x < m_width; x++)
        {
            m_map_flags.safePixel(x, y) = PixelToCellData(image.safePixel(x, y));
        }
    }
    return true;
}