**open_kwargs ( kwargs, optional) – Optional keyword arguments to pass into rasterio.open(). If None (default), assume the same value of decode_time.īand_as_variable ( bool, default=False) – If True, will load bands in a raster to separate variables. If your files are very large or if you don’t need the coordinates.Ĭhunks ( int, tuple or dict, optional) – Chunk sizes along each dimension, e.g., 5, (5, 5) or It can be useful to set parse_coordinates=False Parse the coordinates only if they are rectilinear (1D). Parse_coordinates ( bool, optional) – Whether to parse the x and y coordinates out of the file’s

More documentation on the grid map library is given here.New in version 0.13: band_as_variable Parameters :įilename ( str, rasterio.io.DatasetReader, or ) – Path to the file to open.

Additionally, the grid_map_visualization package helps to visualize grid maps as point clouds, occupancy grids, grid cells etc. Visualizations: The grid_map_rviz_plugin renders grid maps as 3d surface plots (height maps) in RViz. 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.

Grid mapping