GRID Docs | General Robotics

from grid_types import HeightMap

A class to represent a height map, typically derived from LiDAR or depth data.

Fields

np.ndarray

A 2D numpy array where each cell contains a height value. The shape is (height, width).

float

The size of each cell in meters. For example, a resolution of 0.1 means each cell is 0.1m x 0.1m.

Position

The 3D world coordinates (x, y, z) of the corner of the cell (0,0) in the height map data.

Constructor

Signature

HeightMap(data: np.ndarray, resolution: float, origin: Position)

Methods

`from_dict()`

Signature

from_dict(data: dict) -> HeightMap

Deserialize from dictionary

`get_world_coordinates()`

Signature

get_world_coordinates() -> Tuple[np.ndarray, np.ndarray, np.ndarray]

Calculates the 3D world coordinates of each cell in the height map. The (i, j)-th cell in the data array corresponds to a physical location. This method computes the X, Y, and Z coordinates for all cells. X and Y are grids representing the planar coordinates. Z is the height data itself. Returns: Tuple[np.ndarray, np.ndarray, np.ndarray]: A tuple containing three 2D arrays:

X_coords: World X coordinates of each cell center.
Y_coords: World Y coordinates of each cell center.
Z_coords: World Z coordinates (heights) of each cell (self.data).

`to_dict()`

Signature

to_dict() -> dict

Serialize to dictionary for JSON transfer

Example

import numpy as np
# Assuming Position is in the same module context
from grid_types import Position
data = np.array([[1.0, 1.1, 1.2],
                 [1.3, 1.4, 1.5]], dtype=np.float32)
resolution = 0.5  # Each cell is 0.5m x 0.5m
origin = Position(x_val=10.0, y_val=20.0, z_val=0.0) # Map starts at (10, 20, 0)
height_map = HeightMap(data=data, resolution=resolution, origin=origin)
print(height_map.data.shape)
print(height_map.resolution)
print(height_map.origin)

​Fields

​Constructor

​Methods

​from_dict()

​get_world_coordinates()

​to_dict()

​Example

Fields

Constructor

Methods

`from_dict()`

`get_world_coordinates()`

`to_dict()`

Example