PointPerception.cpp File Reference

#include <string>
#include <vector>
#include <optional>
#include "pcl_conversions/pcl_conversions.h"
#include "pcl/point_types_conversion.h"
#include "pcl/common/transforms.h"
#include "pcl/point_cloud.h"
#include "pcl/point_types.h"
#include "pcl/PointIndices.h"
#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
#include "sensor_msgs/msg/laser_scan.hpp"
#include "sensor_msgs/msg/point_cloud2.hpp"
#include "rclcpp/time.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"
#include "easynav_common/types/PointPerception.hpp"
#include "easynav_common/YTSession.hpp"
#include "easynav_common/RTTFBuffer.hpp"

Include dependency graph for PointPerception.cpp:

Namespaces
namespace	easynav

Functions
void	convert (const sensor_msgs::msg::LaserScan &scan, pcl::PointCloud< pcl::PointXYZ > &pc)
	Converts a LaserScan message into a point cloud.
PointPerceptions	get_point_perceptions (std::vector< PerceptionPtr > &perceptionptr)
sensor_msgs::msg::PointCloud2	perception_to_rosmsg (const PointPerception &perception)
	Converts a PointPerception to a sensor_msgs::msg::PointCloud2 message.
sensor_msgs::msg::PointCloud2	points_to_rosmsg (const pcl::PointCloud< pcl::PointXYZ > &points)
	Converts a PCL point cloud to a sensor_msgs::msg::PointCloud2 message.