pilot.OccupancyMapData

Class

Map with environment information used for navigation.

Inherits from pilot.GridMapData.

Fields

static const uchar FREE = 0

static const uchar DYNAMIC = 253

static const uchar PROHIBITED = 254

static const uchar UNKNOWN = 255

Image8 occupancy

Represents the pixel grid.

• 0 to 100 = wall
• 101 to 200 = reflector
• 254 = prohibited
• 255 = unknown

Methods

Image8 to_mono_image() const

convert to 8-bit format (0 to 255)

Image8 to_rgba_image(int alpha) const

for visualization

ImageF32 to_float(float special, bool combined) const

convert to float format (0 to 1)

OccupancyMapData *to_reflector_map() const

convert to reflector occupancy (shift 200 to 100, erase 0 to 100)

OccupancyMapData *to_combined_map() const

convert reflectors to normal occupancy (map 200 to 100)

static Vector4uc to_rgba(int value, int alpha)

convert occupancy to RGBA