![]() OpenCV interface: Grid maps can be seamlessly converted from and to OpenCV image types to make use of the tools provided by OpenCV. ROS interface: Grid maps can be directly converted to and from ROS message types such as PointCloud2, OccupancyGrid, GridCells, and our custom GridMap message. For example, iterator functions for rectangular, circular, polygonal regions and lines are implemented. Users can apply available Eigen algorithms directly to the map data for versatile and efficient data manipulation.Ĭonvenience functions: Several helper methods allow for convenient and memory safe cell data access. to follow the robot) without copying data in memory.īased on Eigen: Grid map data is stored as Eigen data types. This allows for non-destructive shifting of the map's position (e.g. Multi-layered: Developed for universal 2.5-dimensional grid mapping with support for any number of layers.Įfficient map re-positioning: Data storage is implemented as two-dimensional circular buffer. It is designed for mobile robotic mapping to store data such as elevation, variance, color, friction coefficient, foothold quality, surface normal, traversability etc. This is a C++ library with ROS interface to manage two-dimensional grid maps with multiple data layers. ![]()
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