#include <GridMapCvProcessing.hpp>
Public Member Functions | |
| GridMapCvProcessing () | |
| virtual | ~GridMapCvProcessing () |
Static Public Member Functions | |
| static bool | changeResolution (const GridMap &gridMapSource, GridMap &gridMapResult, const double resolution, const int interpolationAlgorithm=cv::INTER_CUBIC) |
| static GridMap | getTransformedMap (GridMap &&gridMapSource, const Eigen::Isometry3d &transform, const std::string &heightLayerName, const std::string &newFrameId) |
Processing of grid maps with OpenCV methods.
Definition at line 21 of file GridMapCvProcessing.hpp.
| grid_map::GridMapCvProcessing::GridMapCvProcessing | ( | ) |
Default constructor.
Definition at line 17 of file GridMapCvProcessing.cpp.
|
virtual |
Destructor.
Definition at line 19 of file GridMapCvProcessing.cpp.
|
static |
Changes the resolution of a grid map with help of OpenCV's interpolation algorithms.
| [in] | gridMapSource | the source grid map. |
| [out] | gridMapResult | the resulting grid map with the desired resolution. |
| [in] | resolution | the desired resolution. |
| [in] |
Definition at line 21 of file GridMapCvProcessing.cpp.
|
static |
Apply isometric transformation (rotation + offset) to grid map and returns the transformed map. Note: The returned map may not have the same length since it's geometric description contains the original map. Also note that the map treats the height layer differently from other layers. I.e, the translation in z-direction is applied only to the height layer. For layers other than the height layer that contain geometric information this function might compute unexpected results. E.g transforming the layers normals_x/y/z will only represent the same values at the transformed location but will not transform the normal vectors into the new coordinate system.
Definition at line 57 of file GridMapCvProcessing.cpp.