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;
}
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;
}