m-explore-ros2/map_merge/include/combine_grids/grid_compositor.h

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/*********************************************************************
*
* Software License Agreement (BSD License)
*
* Copyright (c) 2015-2016, Jiri Horner.
* Copyright (c) 2021, Carlos Alvarez.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
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* * Redistributions of source code must retain the above copyright
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* * Neither the name of the Jiri Horner nor the names of its
* contributors may be used to endorse or promote products derived
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#ifndef GRID_COMPOSITOR_H_
#define GRID_COMPOSITOR_H_
#include <nav_msgs/msg/occupancy_grid.hpp>
#include <opencv2/core/utility.hpp>
namespace combine_grids
{
namespace internal
{
class GridCompositor
{
public:
nav_msgs::msg::OccupancyGrid::SharedPtr compose(const std::vector<cv::Mat>& grids,
const std::vector<cv::Rect>& rois);
};
} // namespace internal
} // namespace combine_grids
#endif // GRID_COMPOSITOR_H_