GridMapCvProcessing.hpp

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/*
 * GridMapCvProcessing.hpp
 *
 *  Created on: Apr 15, 2016
 *      Author: Péter Fankhauser, Magnus Gärtner
 *       Institute: ETH Zurich, ANYbotics
 */

#pragma once

#include <grid_map_core/grid_map_core.hpp>

// OpenCV
#include <cv_bridge/cv_bridge.h>

namespace grid_map {

class GridMapCvProcessing {
 public:
  GridMapCvProcessing();

  virtual ~GridMapCvProcessing();

  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);
};

}  // namespace grid_map