A ROS node that converts a grid map to an image using OpenCV. A collection of scripts is also included, one that creates a .png using traversability layers' data from text files and one that applies a variety of feature matching methods between two .png images.
The grid map and the traversability estimation data is produced by two ETHZ's projects which can be found at: https://github.com/ethz-asl/grid_map and https://github.com/ethz-asl/traversability_estimation.
This project is still under development.