Class GridMapPclConverter

Class Documentation

class GridMapPclConverter

Conversions between grid maps and PCL types.

Public Functions

GridMapPclConverter()

Default constructor.

virtual ~GridMapPclConverter()

Destructor.

Public Static Functions

static bool initializeFromPolygonMesh(const pcl::PolygonMesh &mesh, const double resolution, grid_map::GridMap &gridMap)

Initializes the geometry of a grid map from a polygon mesh. This changes the geometry of the map and deletes all contents of the layers!

Parameters:

  • mesh – [in] the mesh.

  • resolution – [in] the desired resolution of the grid map [m/cell].

  • gridMap – [out] the grid map to be initialized.

Returns:

true if successful, false otherwise.

static bool addLayerFromPolygonMesh(const pcl::PolygonMesh &mesh, const std::string &layer, grid_map::GridMap &gridMap)

Adds a layer with data from a polygon mesh. The mesh is ray traced from above (negative z-Direction).

Parameters:

  • mesh – [in] the mesh to be added. It can only consist of triangles!

  • layer – [in] the layer that is filled with the mesh data.

  • gridMap – [out] the grid map to be populated.

Returns:

true if successful, false otherwise.