PointPerceptionsOpsView Class Reference

Provides efficient, non-destructive, chainable operations over a set of point-based perceptions. More...

#include <PointPerception.hpp>

Classes
struct	VoxelKey
	Represents a discrete 3D voxel index for downsampling. More...
struct	VoxelKeyHash
	Hash function for VoxelKey. More...

Public Member Functions
pcl::PointCloud< pcl::PointXYZ >	as_points () const
	Retrieves all selected points as a single cloud.
const pcl::PointCloud< pcl::PointXYZ > &	as_points (int idx) const
	Retrieves the filtered point cloud for a specific perception.
std::shared_ptr< PointPerceptionsOpsView >	collapse (const std::vector< double > &collapse_dims) const
	Collapses dimensions to fixed values (e.g., project onto plane).
PointPerceptionsOpsView &	downsample (double resolution)
	Downsamples each perception using a voxel grid.
PointPerceptionsOpsView &	filter (const std::vector< double > &min_bounds, const std::vector< double > &max_bounds)
	Filters all point clouds by spatial bounds.
std::shared_ptr< PointPerceptionsOpsView >	fuse (const std::string &target_frame) const
	Fuses all perceptions into one, transforming them to a common frame.
const PointPerceptions &	get_perceptions () const
	Gets a reference to the underlying perceptions container.
	PointPerceptionsOpsView (const PointPerceptions &perceptions)
	Constructor using a constant reference to a container of perceptions.
	PointPerceptionsOpsView (PointPerceptions &&perceptions)
	Constructor that takes ownership of the container.

Detailed Description

Provides efficient, non-destructive, chainable operations over a set of point-based perceptions.

This class allows filtering, downsampling, fusion, and collapsing of multiple point clouds without duplicating memory, by using index-based views.

Constructor & Destructor Documentation

PointPerceptionsOpsView() [1/2]

PointPerceptionsOpsView ( const PointPerceptions & perceptions )

explicit

Constructor using a constant reference to a container of perceptions.

Parameters

perceptions

Container of perceptions to view.

PointPerceptionsOpsView() [2/2]

PointPerceptionsOpsView ( PointPerceptions && perceptions )

explicit

Constructor that takes ownership of the container.

Parameters

perceptions

Rvalue container of perceptions.

Member Function Documentation

as_points() [1/2]

pcl::PointCloud< pcl::PointXYZ > as_points

(

)

const

Retrieves all selected points as a single cloud.

Returns

Concatenated point cloud.

as_points() [2/2]

const pcl::PointCloud< pcl::PointXYZ > & as_points

(

int

idx

)

const

Retrieves the filtered point cloud for a specific perception.

Parameters

idx	Index of the perception.

Returns

Const reference to the filtered point cloud.

collapse()

std::shared_ptr< PointPerceptionsOpsView > collapse

(

const std::vector< double > &

collapse_dims

)

const

Collapses dimensions to fixed values (e.g., project onto plane).

Parameters

collapse_dims

Fixed values for each axis (use NAN to preserve original values).

Returns

New view with collapsed points.

downsample()

PointPerceptionsOpsView & downsample

(

double

resolution

)

Downsamples each perception using a voxel grid.

Parameters

resolution

Size of the voxel in meters.

Returns

Reference to self for chaining.

filter()

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

Filters all point clouds by spatial bounds.

Parameters

min_bounds	Minimum [x, y, z] values (use NAN to disable per axis).
max_bounds	Maximum [x, y, z] values (use NAN to disable per axis).

Returns

Reference to self for chaining.

fuse()

std::shared_ptr< PointPerceptionsOpsView > fuse

(

const std::string &

target_frame

)

const

Fuses all perceptions into one, transforming them to a common frame.

Parameters

target_frame

Frame ID to transform all clouds into.

Returns

New fused PointPerceptionsOpsView.

get_perceptions()

const PointPerceptions & get_perceptions

(

)

const

Gets a reference to the underlying perceptions container.

Returns

Constant reference to PointPerceptions.

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

• easynav_common/include/easynav_common/types/PointPerception.hpp
• easynav_common/src/easynav_common/types/PointPerception.cpp