ImagePerception Class Reference

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

#include <ImagePerception.hpp>

Inheritance diagram for ImagePerception:

Collaboration diagram for ImagePerception:

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 contains valid data.

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

Additional Inherited Members
Public Member Functions inherited from PerceptionBase
virtual	~PerceptionBase ()=default

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.

Member Function Documentation

supports_msg_type()

static 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.

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

• easynav_common/include/easynav_common/types/ImagePerception.hpp