PointPerceptionsOpsView Class Reference

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

#include <PointPerception.hpp>

Classes
struct	VoxelKey
	Discrete 3D voxel index used for downsampling. More...
struct	VoxelKeyHash
	Hash functor for VoxelKey. More...

Public Member Functions
PointPerceptionsOpsView &	add (const pcl::PointCloud< pcl::PointXYZ > points, const std::string &frame, rclcpp::Time stamp)
	Adds a new perception to the current view.
pcl::PointCloud< pcl::PointXYZ >	as_points () const
	Retrieves all selected points across perceptions as a single concatenated cloud.
const pcl::PointCloud< pcl::PointXYZ > &	as_points (int idx) const
	Retrieves the filtered point cloud for a specific perception.
PointPerceptionsOpsView &	collapse (const std::vector< double > &collapse_dims, bool lazy=true)
	Collapses dimensions to fixed values (for example, projection onto a 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, bool lazy_post_fuse=true)
	Filters all point clouds by axis-aligned bounds.
PointPerceptionsOpsView &	fuse (const std::string &target_frame, bool exact_time=true)
	Configures fusion of all perceptions into a common frame.
PointPerceptionsOpsView &	fuse (const std::string &target_frame, rclcpp::Time &stamp, bool exact_time=true)
	Configures fusion of all perceptions into a common frame, returning the effective stamp.
rclcpp::Time	get_latest_stamp () const
	Retrieves the latest timestamp across all perceptions.
const PointPerceptions &	get_perceptions () const
	Provides a constant reference to the underlying perceptions container.
PointPerceptionsOpsView &	operator= (const PointPerceptionsOpsView &)=delete
	PointPerceptionsOpsView (const PointPerception &perception)
	Constructs a view from a single PointPerception instance.
	PointPerceptionsOpsView (const PointPerceptions &perceptions)
	Constructs a view over an external container of perceptions.
	PointPerceptionsOpsView (const PointPerceptionsOpsView &)=delete
	PointPerceptionsOpsView (PointPerceptions &&perceptions)
	Constructs a view taking ownership of the container.
	PointPerceptionsOpsView (PointPerceptionsOpsView &&)=default

Detailed Description

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

This view enables filtering, downsampling, fusion, and dimensional collapsing across multiple point clouds without duplicating the underlying perceptions. Most operations work lazily by keeping index-based selections and transformation options, and only materialize a new point cloud when required (for example in as_points()).

Constructor & Destructor Documentation

PointPerceptionsOpsView() [1/5]

PointPerceptionsOpsView ( const PointPerceptions & perceptions )

explicit

Constructs a view over an external container of perceptions.

Parameters

perceptions

Constant reference to the source container.

PointPerceptionsOpsView() [2/5]

PointPerceptionsOpsView ( const PointPerception & perception )

explicit

Constructs a view from a single PointPerception instance.

Creates an internal container owning the given perception and initializes the index set for all its points.

Parameters

perception

The PointPerception to wrap in the view.

PointPerceptionsOpsView() [3/5]

PointPerceptionsOpsView ( PointPerceptions && perceptions )

explicit

Constructs a view taking ownership of the container.

Parameters

perceptions

Rvalue container of perceptions to be owned by the view.

PointPerceptionsOpsView() [4/5]

PointPerceptionsOpsView ( const PointPerceptionsOpsView & )

delete

PointPerceptionsOpsView() [5/5]

PointPerceptionsOpsView ( PointPerceptionsOpsView && )

default

Member Function Documentation

add()

PointPerceptionsOpsView & add	(	const pcl::PointCloud< pcl::PointXYZ >	points,
		const std::string &	frame,
		rclcpp::Time	stamp )

Adds a new perception to the current view.

This method extends the underlying set of perceptions managed by the view. It does not create a new PointPerceptionsOpsView instance; instead, it updates the current view in place and returns a reference to *this to allow method chaining.

The newly added perception becomes part of subsequent operations such as filtering, fusion, collapsing, and final materialization (as_points()).

Parameters

points	Point cloud to include.
frame	Frame ID associated with points.
stamp	Timestamp associated with points.

Returns

Reference to *this to allow chaining.

as_points() [1/2]

pcl::PointCloud< pcl::PointXYZ > as_points

(

)

const

Retrieves all selected points across perceptions as a single concatenated 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 target perception in the underlying container.

Returns

Const reference to the filtered point cloud.

collapse()

PointPerceptionsOpsView & collapse	(	const std::vector< double > &	collapse_dims,
		bool	lazy = true )

Collapses dimensions to fixed values (for example, projection onto a plane).

Components set to NaN in collapse_dims keep the original values.

The behaviour depends on lazy:

• If lazy is true (default), the collapse configuration is stored in the view and applied lazily when materializing point clouds (for example, in as_points()), without modifying the underlying perception data.
• If lazy is false and the view owns its internal container, the collapse is applied eagerly by updating the coordinates of all stored points, so subsequent operations (filters, fusion, etc.) observe the collapsed geometry. On non-owning views, the eager mode is ignored to avoid modifying external data.

Parameters

collapse_dims	Fixed values for each axis (use NaN to preserve original values).
lazy	If true, configure collapse lazily for output only; if false and the view is owning, apply the collapse immediately to the internal point data.

Returns

Reference to *this to allow chaining.

downsample()

PointPerceptionsOpsView & downsample

(

double

resolution

)

Downsamples each perception using a voxel grid.

Parameters

resolution

Voxel size in meters.

Returns

Reference to *this to allow chaining.

filter()

PointPerceptionsOpsView & filter	(	const std::vector< double > &	min_bounds,
		const std::vector< double > &	max_bounds,
		bool	lazy_post_fuse = true )

Filters all point clouds by axis-aligned bounds.

When the view has no target frame configured (that is, fuse() has not been called), this method always performs an eager filtering step in the original frame of each sensor, updating the internal index sets in-place.

When a target frame has been configured via fuse(), the behaviour depends on lazy_post_fuse:

• If lazy_post_fuse is true (default), the bounds are stored as a post-fuse filter in the target frame and are applied lazily during materialization (for example, in as_points()), without modifying the internal indices.
• If lazy_post_fuse is false, the method applies the transform to the target frame immediately and performs an eager filtering step in that frame, updating the internal indices accordingly.

Components set to NaN in min_bounds or max_bounds leave the corresponding axis unbounded.

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).
lazy_post_fuse	If true and a target frame is set, configure a lazy post-fuse filter in the target frame; if false, always filter eagerly (updating indices) in the current frame (sensor or target).

Returns

Reference to *this to allow chaining.

fuse() [1/2]

PointPerceptionsOpsView & fuse	(	const std::string &	target_frame,
		bool	exact_time = true )

Configures fusion of all perceptions into a common frame.

This method does not immediately build a fused point cloud. Instead, it stores the target frame and the required transforms so that subsequent operations (for example filter) and final materialization (as_points()) work in target_frame without duplicating the underlying data.

Parameters

target_frame	Frame ID to which all clouds are conceptually transformed.
stamp	Effective timestamp for the TF lookup.
exact_time	If true, TF lookups use the exact timestamp of each perception; if false (default), the most recent available transform is used.

Returns

Reference to *this to allow chaining.

fuse() [2/2]

PointPerceptionsOpsView & fuse	(	const std::string &	target_frame,
		rclcpp::Time &	stamp,
		bool	exact_time = true )

Configures fusion of all perceptions into a common frame, returning the effective stamp.

This method does not immediately build a fused point cloud. Instead, it stores the target frame and the required transforms so that subsequent operations (for example filter) and final materialization (as_points()) work in target_frame without duplicating the underlying data.

The effective timestamp used for TF lookups is returned via the stamp parameter.

If exact_time is true, stamp is set to the timestamp of the most recent perception among those being fused; otherwise, it is set to the time at which the TF lookup is performed.

Parameters

target_frame	Frame ID to which all clouds are conceptually transformed.
stamp	Reference to a rclcpp::Time variable where the effective timestamp will be stored.
exact_time	If true, TF lookups use the exact timestamp of each perception; if false (default), the most recent available transform is used.

Returns

Reference to *this to allow chaining.

get_latest_stamp()

rclcpp::Time get_latest_stamp

(

)

const

Retrieves the latest timestamp across all perceptions.

Returns

The most recent timestamp.

get_perceptions()

const PointPerceptions & get_perceptions

(

)

const

Provides a constant reference to the underlying perceptions container.

Returns

Constant reference to the container.

operator=()

PointPerceptionsOpsView & operator= ( const PointPerceptionsOpsView & )

delete

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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