PointPerception.hpp File Reference

Defines data structures and utilities for representing and processing point-based sensor perceptions. More...

#include <string>
#include <vector>
#include <optional>
#include "tf2/LinearMath/Transform.hpp"
#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"
#include "easynav_common/CircularBuffer.hpp"
#include "easynav_common/RTTFBuffer.hpp"

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Classes
struct	hash< std::tuple< int, int, int > >
	Custom hash specialization for std::tuple<int,int,int>. More...
class	PointPerception
	Concrete perception class for 3D point cloud data. More...
struct	PointPerceptionBufferType
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
	Discrete 3D voxel index used for downsampling. More...
struct	PointPerceptionsOpsView::VoxelKeyHash
	Hash functor for VoxelKey. More...

Namespaces
namespace	easynav
namespace	std

Typedefs
using	PointPerceptions
	Alias for a vector of shared 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.
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.

Detailed Description

Defines data structures and utilities for representing and processing point-based sensor perceptions.

This header provides:

• PointPerception: a concrete class for point cloud data.
• PointPerceptionHandler: a handler for sensor_msgs::msg::LaserScan and sensor_msgs::msg::PointCloud2 messages.
• PointPerceptionsOpsView: an efficient view-based operator class for processing multiple perceptions (filtering, downsampling, fusion, and collapsing) without duplicating memory.
• Conversion utilities between ROS messages and PCL point clouds.