Basic Info

Description of contribution in a few bullet points

• Replaced the Magick-based image loading and processing in the Map IO library with OpenCV.
• Replaced per-pixel loops with OpenCV matrix operations for faster processing

Description of how this change was tested

• Tested extensively with various maps
• Tested with all the 3 modes of maps (Trinary, Scale and Raw)
• Tested for PNG and PGM format maps
• Tested with larger maps that used to take 10 seconds to load previously, loaded within 2 seconds now

Future work that may be required in bullet points

For Maintainers:

• Check that any new parameters added are updated in docs.nav2.org
• Check that any significant change is added to the migration guide
• Check that any new features OR changes to existing behaviors are reflected in the tuning guide
• Check that any new functions have Doxygen added
• Check that any new features have test coverage
• Check that any new plugins is added to the plugins page
• If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists