grid_conversion.h

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/*
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @author     Fabian Reister ( fabian dot reister at kit dot edu )
 * @date       2021
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <vector>
 
#include <Eigen/Geometry>
 
#include <opencv2/core/mat.hpp>
 
#include "RobotAPI/libraries/armem_vision/types.h"
 
#include <armarx/localization_and_mapping/cartographer_adapter/types.h>
 
namespace cartographer::mapping
{
    class Grid2D;
    class ProbabilityGrid;
} // namespace cartographer::mapping
 
namespace armarx::localization_and_mapping::cartographer_adapter
{
    cv::Mat2b toImage(const ::cartographer::mapping::Grid2D& grid);
 
    ColoredMeshGrid toMeshGrid(const ::cartographer::mapping::Grid2D& grid);
 
    armem::vision::OccupancyGrid toOccupancyGrid(const ::cartographer::mapping::Grid2D& grid);
    armem::vision::OccupancyGrid
    toOccupancyGrid(const ::cartographer::mapping::ProbabilityGrid& grid);
 
} // namespace armarx::localization_and_mapping::cartographer_adapter