Try to convert OccupancyGrid map to Polymap

sikang / mpl_ros

A ROS wrapper for trajectory planning based on motion primitives

Apache License 2.0

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Try to convert OccupancyGrid map to Polymap #21

Open bxc237 opened 3 years ago

bxc237 commented 3 years ago

Hi @sikang, I would like to convert OccupancyGrid map which is widely used in ROS navigation to Polymap (Polyhedron2D or decomp_ros_msgs::PolyhedronArray), but I just can not figure out the geometry relationship between them. Could you give me some advice on how to do it? Thank you!