OccupancyGrid珊格地图转cv::mat图片

             OccupancyGrid珊格地图转cv::mat图片

//地图转图片
enum class NAV_MAP_COST : int8_t { OBS = 100, FREE = 0, UNKNOWN = -1 };
enum class ORI_MAP_COST : int8_t { OBS = 50, FREE = 0, UNKNOWN = -1 };
enum class MAT_MAP_COST : uint8_t { OBS = 50, FREE = 0, UNKNOWN = 100 };
constexpr static const int INFLATION_SIZE = 2;
nav_msgs::OccupancyGrid static_map_;//储存地图
    //-------------------------地图数据转cv图片---------------------------
    template 
    inline constexpr auto to_under_type(E enumerator) noexcept -> std::underlying_type_t {
        return static_cast>(enumerator);
    }

//订阅地图
void callBack_map(nav_msgs::OccupancyGrid msg){

    cout<<"原点位置 x: "<