Program Listing for File GridMapRosConverter.hpp

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/*
 * GridMapRosConverter.hpp
 *
 *  Created on: Jul 14, 2014
 *      Author: Péter Fankhauser
 *   Institute: ETH Zurich, ANYbotics
 */

#ifndef GRID_MAP_ROS__GRIDMAPROSCONVERTER_HPP_
#define GRID_MAP_ROS__GRIDMAPROSCONVERTER_HPP_

#include <grid_map_core/grid_map_core.hpp>
#include <grid_map_msgs/msg/grid_map.hpp>

// Eigen
#include <Eigen/Core>

// ROS
#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>
#include <sensor_msgs/msg/image.hpp>
#include <sensor_msgs/image_encodings.hpp>
#include <nav_msgs/msg/occupancy_grid.hpp>
#include <nav_msgs/msg/grid_cells.hpp>
#include <nav2_msgs/msg/costmap.hpp>
#include <cv_bridge/cv_bridge.hpp>

// STL
#include <vector>
#include <unordered_map>
#include <string>
#include <memory>

namespace grid_map
{

class GridMapRosConverter
{
public:
  GridMapRosConverter();

  virtual ~GridMapRosConverter();

  static bool fromMessage(
    const grid_map_msgs::msg::GridMap & message, grid_map::GridMap & gridMap,
    const std::vector<std::string> & layers, bool copyBasicLayers = true,
    bool copyAllNonBasicLayers = true);

  static bool fromMessage(const grid_map_msgs::msg::GridMap & message, grid_map::GridMap & gridMap);

  static std::unique_ptr<grid_map_msgs::msg::GridMap> toMessage(
    const grid_map::GridMap & gridMap);

  static std::unique_ptr<grid_map_msgs::msg::GridMap> toMessage(
    const grid_map::GridMap & gridMap, const std::vector<std::string> & layers);

  static void toPointCloud(
    const grid_map::GridMap & gridMap,
    const std::string & pointLayer,
    sensor_msgs::msg::PointCloud2 & pointCloud);

  static void toPointCloud(
    const grid_map::GridMap & gridMap,
    const std::vector<std::string> & layers,
    const std::string & pointLayer,
    sensor_msgs::msg::PointCloud2 & pointCloud);

  static bool fromOccupancyGrid(
    const nav_msgs::msg::OccupancyGrid & occupancyGrid,
    const std::string & layer, grid_map::GridMap & gridMap);

  static void toOccupancyGrid(
    const grid_map::GridMap & gridMap, const std::string & layer,
    float dataMin, float dataMax, nav_msgs::msg::OccupancyGrid & occupancyGrid);

  static bool fromCostmap(
    const nav2_msgs::msg::Costmap & costmap,
    const std::string & layer, grid_map::GridMap & gridMap);

  static void toCostmap(
    const grid_map::GridMap & gridMap, const std::string & layer,
    float dataMin, float dataMax, nav2_msgs::msg::Costmap & costmap);

  static void toGridCells(
    const grid_map::GridMap & gridMap, const std::string & layer,
    float lowerThreshold, float upperThreshold,
    nav_msgs::msg::GridCells & gridCells);

  static bool initializeFromImage(
    const sensor_msgs::msg::Image & image, const double resolution,
    grid_map::GridMap & gridMap,
    const grid_map::Position & position = grid_map::Position::Zero());

  static bool addLayerFromImage(
    const sensor_msgs::msg::Image & image, const std::string & layer,
    grid_map::GridMap & gridMap, const float lowerValue = 0.0,
    const float upperValue = 1.0, const double alphaThreshold = 0.5);

  static bool addColorLayerFromImage(
    const sensor_msgs::msg::Image & image, const std::string & layer,
    grid_map::GridMap & gridMap);

  static bool toImage(
    const grid_map::GridMap & gridMap, const std::string & layer,
    const std::string encoding, sensor_msgs::msg::Image & image);

  static bool toImage(
    const grid_map::GridMap & gridMap, const std::string & layer,
    const std::string encoding, const float lowerValue, const float upperValue,
    sensor_msgs::msg::Image & image);

  static bool toCvImage(
    const grid_map::GridMap & gridMap, const std::string & layer,
    const std::string encoding, cv_bridge::CvImage & cvImage);

  static bool toCvImage(
    const grid_map::GridMap & gridMap, const std::string & layer,
    const std::string encoding, const float lowerValue,
    const float upperValue, cv_bridge::CvImage & cvImage);

  static bool saveToBag(
    const grid_map::GridMap & gridMap, const std::string & pathToBag,
    const std::string & topic);

  static bool loadFromBag(
    const std::string & pathToBag, const std::string & topic,
    grid_map::GridMap & gridMap);
};

}  // namespace grid_map
#endif  // GRID_MAP_ROS__GRIDMAPROSCONVERTER_HPP_