ImagePerception Class Reference

Represents a single image perception from a sensor. More...

#include <ImagePerception.hpp>

Inheritance diagram for ImagePerception:

Collaboration diagram for ImagePerception:

Public Member Functions
bool	consume_new_data ()
	Atomically reads and clears new_data.
	ImagePerception ()
	ImagePerception (const ImagePerception &other)
void	mark_invalid (const rclcpp::Time &msg_stamp, const std::string &msg_frame_id)
	Atomically records a failed decode: updates stamp/frame_id, marks invalid, and leaves data untouched (matches the pre-existing behavior on cv_bridge exceptions).
ImagePerception &	operator= (const ImagePerception &other)
void	set_data (cv::Mat &&image, const rclcpp::Time &msg_stamp, const std::string &msg_frame_id)
	Atomically overwrites stamp/frame_id/data with a successfully decoded image and marks the perception valid.
Public Member Functions inherited from PerceptionBase
virtual	~PerceptionBase ()=default

Static Public Member Functions
static bool	supports_msg_type (std::string_view t)
	Returns whether the given ROS 2 type name is supported by this perception.

Public Attributes
cv::Mat	data
	Image data received from the sensor.
Public Attributes inherited from PerceptionBase
std::string	frame_id
	Coordinate frame associated with the perception.
bool	new_data = false
	Whether the data has changed since the last observation.
rclcpp::Time	stamp
	Timestamp of the perception (ROS time).
bool	valid = false
	Whether the perception holds usable data: set with new data, cleared by SensorsNode once it is older than "forget_time".

Static Public Attributes
static constexpr std::string_view	default_group_ = "image"
	Group identifier for image perceptions.

Protected Attributes
std::mutex	mutex_

Detailed Description

Represents a single image perception from a sensor.

Inherits from PerceptionBase and stores an OpenCV image (cv::Mat) along with metadata such as timestamp and frame_id.

Constructor & Destructor Documentation

ImagePerception() [1/2]

ImagePerception

(

)

ImagePerception() [2/2]

ImagePerception

(

const ImagePerception &

other

)

Member Function Documentation

consume_new_data()

bool consume_new_data

(

)

Atomically reads and clears new_data.

Returns

The value of new_data before it was cleared.

mark_invalid()

void mark_invalid	(	const rclcpp::Time &	msg_stamp,
		const std::string &	msg_frame_id )

Atomically records a failed decode: updates stamp/frame_id, marks invalid, and leaves data untouched (matches the pre-existing behavior on cv_bridge exceptions).

operator=()

ImagePerception & operator=

(

const ImagePerception &

other

)

set_data()

void set_data	(	cv::Mat &&	image,
		const rclcpp::Time &	msg_stamp,
		const std::string &	msg_frame_id )

Atomically overwrites stamp/frame_id/data with a successfully decoded image and marks the perception valid.

Guards against a concurrent copy (e.g. via NavState::get_safe()) observing a partially-updated object while this handler's RT-thread callback is writing.

supports_msg_type()

bool supports_msg_type ( std::string_view t )

static

Returns whether the given ROS 2 type name is supported by this perception.

Parameters

t	Fully qualified message type name (e.g., "sensor_msgs/msg/Image").

Returns

true if t equals "sensor_msgs/msg/Image", otherwise false.

Member Data Documentation

data

cv::Mat data

Image data received from the sensor.

The matrix layout follows OpenCV conventions. The encoding and channel depth depend on upstream conversion (typically via cv_bridge).

default_group_

std::string_view default_group_ = "image"

staticconstexpr

Group identifier for image perceptions.

mutex_

std::mutex mutex_

mutableprotected

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The documentation for this class was generated from the following file:

• easynav_sensors/include/easynav_sensors/types/ImagePerception.hpp