PointPerception.hpp

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// Copyright 2025 Intelligent Robotics Lab
//
// This file is part of the project Easy Navigation (EasyNav in short)
// licensed under the GNU General Public License v3.0.
// See <http://www.gnu.org/licenses/> for details.
//
// Easy Navigation program is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.


 
#ifndef EASYNAV_COMMON_TYPES__POINTPERCEPTIONS_HPP_
#define EASYNAV_COMMON_TYPES__POINTPERCEPTIONS_HPP_
 
#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"
 
namespace std
{

template<>
struct hash<std::tuple<int, int, int>>
{
  std::size_t operator()(const std::tuple<int, int, int> & key) const
  {
    std::size_t h1 = std::hash<int>()(std::get<0>(key));
    std::size_t h2 = std::hash<int>()(std::get<1>(key));
    std::size_t h3 = std::hash<int>()(std::get<2>(key));
    return h1 ^ (h2 << 1) ^ (h3 << 2);
  }
};
 
}  // namespace std
 
namespace easynav
{

class PointPerception : public PerceptionBase
{
public:
  pcl::PointCloud<pcl::PointXYZ> data;

  void resize(std::size_t size)
  {
    data.points.resize(size);
  }
};

class PointPerceptionHandler : public PerceptionHandler
{
public:
  std::string group() const override {return "points";}

  std::shared_ptr<PerceptionBase> create(const std::string &) override
  {
    return std::make_shared<PointPerception>();
  }

  rclcpp::SubscriptionBase::SharedPtr create_subscription(
    rclcpp_lifecycle::LifecycleNode & node,
    const std::string & topic,
    const std::string & type,
    std::shared_ptr<PerceptionBase> target,
    rclcpp::CallbackGroup::SharedPtr cb_group) override;
};

void convert(const sensor_msgs::msg::LaserScan & scan, pcl::PointCloud<pcl::PointXYZ> & pc);

sensor_msgs::msg::PointCloud2 perception_to_rosmsg(const PointPerception & perception);

sensor_msgs::msg::PointCloud2 points_to_rosmsg(const pcl::PointCloud<pcl::PointXYZ> & points);

using PointPerceptions =
  std::vector<std::shared_ptr<PointPerception>>;
 
PointPerceptions get_point_perceptions(std::vector<PerceptionPtr> & perceptionptr);

class PointPerceptionsOpsView
{
public:
  struct VoxelKey
  {
    int x, y, z;

    bool operator==(const VoxelKey & other) const
    {
      return x == other.x && y == other.y && z == other.z;
    }
  };

  struct VoxelKeyHash
  {
    std::size_t operator()(const VoxelKey & key) const
    {
      std::size_t h1 = std::hash<int>{}(key.x);
      std::size_t h2 = std::hash<int>{}(key.y);
      std::size_t h3 = std::hash<int>{}(key.z);
      return h1 ^ (h2 << 1) ^ (h3 << 2);
    }
  };

  explicit PointPerceptionsOpsView(const PointPerceptions & perceptions);

  explicit PointPerceptionsOpsView(PointPerceptions && perceptions);

  PointPerceptionsOpsView & filter(
    const std::vector<double> & min_bounds,
    const std::vector<double> & max_bounds);

  PointPerceptionsOpsView & downsample(double resolution);

  std::shared_ptr<PointPerceptionsOpsView> collapse(
    const std::vector<double> & collapse_dims) const;

  pcl::PointCloud<pcl::PointXYZ> as_points() const;

  const pcl::PointCloud<pcl::PointXYZ> & as_points(int idx) const;

  std::shared_ptr<PointPerceptionsOpsView> fuse(const std::string & target_frame) const;

  const PointPerceptions & get_perceptions() const {return perceptions_;}
 
private:
  std::optional<PointPerceptions> owned_;                  
  const PointPerceptions & perceptions_;                   
  std::vector<pcl::PointIndices> indices_;                 
};
 
}  // namespace easynav
 
#endif  // EASYNAV_COMMON_TYPES__POINTPERCEPTIONS_HPP_