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Defines data structures and utilities for representing and processing sensor perceptions. More...
#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 "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/Perceptions.hpp"
Go to the source code of this file.
Classes | |
struct | hash< std::tuple< int, int, int > > |
Custom std::hash specialization for std::tuple<int, int, int>. More... | |
class | PointPerception |
Concrete perception class for 3D point cloud data. More... | |
class | PointPerceptionHandler |
PerceptionHandler implementation for sensors producing point-based data. More... | |
class | PointPerceptionsOpsView |
Provides efficient, non-destructive, chainable operations over a set of point-based perceptions. More... | |
struct | PointPerceptionsOpsView::VoxelKey |
Represents a discrete 3D voxel index for downsampling. More... | |
struct | PointPerceptionsOpsView::VoxelKeyHash |
Hash function for VoxelKey. More... | |
Namespaces | |
namespace | easynav |
namespace | std |
Typedefs | |
using | PointPerceptions |
Alias for a vector of pointers to PointPerception objects. | |
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. | |
Defines data structures and utilities for representing and processing sensor perceptions.
Defines data structures and utilities for representing and processing point-based sensor perceptions.
Includes conversion between ROS messages and PCL point clouds, fusion of data, and tools for creating filtered views.
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