OccupancyGrid珊格地图转cv::mat图片,转点云地图
珊格地图转cv::mat图片地图
//地图转图片
enum class NAV_MAP_COST : int8_t { OBS = 100, FREE = 0, UNKNOWN = -1 };
enum class ORI_MAP_COST : int8_t { OBS = 50, FREE = 0, UNKNOWN = -1 };
enum class MAT_MAP_COST : uint8_t { OBS = 50, FREE = 0, UNKNOWN = 100 };
constexpr static const int INFLATION_SIZE = 2;
nav_msgs::OccupancyGrid static_map_;//储存地图
//-------------------------地图数据转cv图片---------------------------
template <typename E>
inline constexpr auto to_under_type(E enumerator) noexcept -> std::underlying_type_t<E> {
return static_cast<std::underlying_type_t<E>>(enumerator);
}
//