PointPerception.cpp File Reference

#include <string>
#include <vector>
#include <optional>
#include <execinfo.h>
#include <cxxabi.h>
#include <cstdlib>
#include <sstream>
#include "pcl_conversions/pcl_conversions.h"
#include "pcl/point_cloud.h"
#include "pcl/point_types.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/RTTFBuffer.hpp"

Include dependency graph for PointPerception.cpp:

Namespaces
namespace	easynav

Functions
std::string	backtrace_to_string (std::size_t max_frames=64, std::size_t skip=0)
void	convert (const sensor_msgs::msg::LaserScan &scan, pcl::PointCloud< pcl::PointXYZ > &pc)
	Converts a LaserScan message into a point cloud.
rclcpp::Time	get_latest_point_perceptions_stamp (const PointPerceptions &perceptions)
	Retrieves the latest timestamp among a set of point-based perceptions.
PointPerceptions	get_point_perceptions (std::vector< PerceptionPtr > &perceptionptr)
	Extracts all PointPerception objects from a heterogeneous collection.
sensor_msgs::msg::PointCloud2	perception_to_rosmsg (const PointPerception &perception)
	Converts a PointPerception into a sensor_msgs::msg::PointCloud2 message.
sensor_msgs::msg::PointCloud2	points_to_rosmsg (const pcl::PointCloud< pcl::PointXYZ > &points)
	Converts a PCL point cloud into a sensor_msgs::msg::PointCloud2 message.