image_loader.h

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#ifndef NAV_GRID_SERVER_IMAGE_LOADER_H
#define NAV_GRID_SERVER_IMAGE_LOADER_H

#include <nav_grid/vector_nav_grid.h>
#include <vector>
#include <string>

namespace nav_grid_server
{
struct Pixel
{
  Pixel() = default;
  std::vector<double> channels;
};

nav_grid::VectorNavGrid<Pixel> getImage(const std::string& filepath, bool flip_y_axis = true);

nav_grid::VectorNavGrid<double> getImageIntensity(const std::string& filepath, bool flip_y_axis = true);

nav_grid::VectorNavGrid<unsigned char> getCostmapFromImage(const std::string& filepath, bool flip_y_axis = true);

nav_grid::VectorNavGrid<unsigned char> classicLoadMapFromFile(const std::string& filepath, const double resolution,
    const bool negate_param, const double occ_th, const double free_th, const std::string& mode);

}  // namespace nav_grid_server

#endif  // NAV_GRID_SERVER_IMAGE_LOADER_H