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Clarify PCL2 conversion limitation #462

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Clarify PCL2 conversion limitation #462

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1 change: 1 addition & 0 deletions README.md
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Expand Up @@ -11,6 +11,7 @@ Features:
* **Based on Eigen:** Grid map data is stored as [Eigen] data types. Users can apply available Eigen algorithms directly to the map data for versatile and efficient data manipulation.
* **Convenience functions:** Several helper methods allow for convenient and memory safe cell data access. For example, iterator functions for rectangular, circular, polygonal regions and lines are implemented.
* **ROS interface:** Grid maps can be directly converted to and from ROS message types such as PointCloud2, OccupancyGrid, GridCells, and our custom GridMap message. Conversion packages provide compatibility with [costmap_2d], [PCL], and [OctoMap] data types.
* Note: Currently, PointCloud2 can only be converted one-way; see this [issue](https://github.com/ANYbotics/grid_map/issues/158) for context.
* **OpenCV interface:** Grid maps can be seamlessly converted from and to [OpenCV] image types to make use of the tools provided by [OpenCV].
* **Visualizations:** The *grid_map_rviz_plugin* renders grid maps as 3d surface plots (height maps) in [RViz]. Additionally, the *grid_map_visualization* package helps to visualize grid maps as point clouds, occupancy grids, grid cells etc.
* **Filters:** The *grid_map_filters* provides are range of filters to process grid maps as a sequence of filters. Parsing of mathematical expressions allows to flexibly setup powerful computations such as thresholding, normal vectors, smoothening, variance, inpainting, and matrix kernel convolutions.
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