Changing the resolution of a grid_map

[stonier]

Without actually changing the lengths, nor the position of the grid_map window.

We've been playing around with something in cost_map/pull-requests/17.

Thoughts?

[pfankhauser]

Here are two easy ways to change the resolution of a grid map.

• Create a new grid map with the desired resolution, and use the addDataFrom(...) from method to add the data from the source grid map.

• Use the changeResolution(...) method of the new GridMapCvProcessing class in grid_map_cv. This methods leverages the OpenCV interpolation functions to change the resolution. You can run the demo with

  roslaunch grid_map_demos resolution_change_demo.launch
  

Does this solve your problem?

[pfankhauser]

@stonier Any update on this?

[stonier]

Missed my emails on this one. addDataFrom() could work, though it means manually doing the rest of the details (setting the length, position) manually. I feel having methods separate to the class (like the changeResolution() is the best course here since there are multiple ways of handling the changed resolution.

For our needs, I probably will build our own changeResolution() methods. Linking in openCV is often undesirable for us - we often drop it for product code.

[pfankhauser]

Ok, I see. In this case, I think the best approach would be to create a new class GridMapProcessing in grid_map_core to perform a resolution change without dependency on OpenCV. Let me know if you need any support.