conversions.hpp File Reference

Conversions between the core NavMap representation and ROS messages. More...

#include <string>
#include "Eigen/Core"
#include "pcl/point_cloud.h"
#include "pcl/point_types.h"
#include "std_msgs/msg/header.hpp"
#include "sensor_msgs/msg/point_cloud2.hpp"
#include "navmap_ros_interfaces/msg/nav_map.hpp"
#include "navmap_ros_interfaces/msg/nav_map_layer.hpp"
#include "nav_msgs/msg/occupancy_grid.hpp"
#include "navmap_core/Costs.hpp"
#include "navmap_core/NavMap.hpp"

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Classes
struct	BuildParams
	Parameters controlling NavMap construction from point clouds. More...
struct	ViewpointFilterStats
	Points removed by filter_with_viewpoints(). More...

Namespaces
namespace	navmap_ros
	Conversions between core NavMap and ROS-level structures.

Functions
pcl::PointCloud< pcl::PointXYZ >	filter_with_viewpoints (const pcl::PointCloud< pcl::PointWithViewpoint > &input_points, const BuildParams &params, ViewpointFilterStats *stats=nullptr)
	Clean a cloud with the sensor position of each point (vp_x, vp_y, vp_z).
navmap::NavMap	from_msg (const navmap_ros_interfaces::msg::NavMap &msg)
	Backward-compatible overload (ignores message header).
navmap::NavMap	from_msg (const navmap_ros_interfaces::msg::NavMap &msg, std_msgs::msg::Header &header)
	Reconstruct a core navmap::NavMap from the ROS transport message.
void	from_msg (const navmap_ros_interfaces::msg::NavMapLayer &msg, navmap::NavMap &nm)
	Backward-compatible overload (ignores message header).
void	from_msg (const navmap_ros_interfaces::msg::NavMapLayer &msg, navmap::NavMap &nm, std_msgs::msg::Header &header)
	Import a single NavMapLayer message into a NavMap.
navmap::NavMap	from_occupancy_grid (const nav_msgs::msg::OccupancyGrid &grid)
	Backward-compatible overload (ignores grid header).
navmap::NavMap	from_occupancy_grid (const nav_msgs::msg::OccupancyGrid &grid, std_msgs::msg::Header &header)
	Build a navmap::NavMap from a nav_msgs::msg::OccupancyGrid using a regular triangular surface with shared vertices.
navmap::NavMap	from_pointcloud2 (const sensor_msgs::msg::PointCloud2 &pc2, navmap_ros_interfaces::msg::NavMap &out_msg, BuildParams params)
	Build a NavMap surface from a ROS sensor_msgs::msg::PointCloud2.
navmap::NavMap	from_points (const pcl::PointCloud< pcl::PointWithViewpoint > &input_points, navmap_ros_interfaces::msg::NavMap &out_msg, BuildParams params)
	Build a NavMap from a cloud with the sensor position of each point.
navmap::NavMap	from_points (const pcl::PointCloud< pcl::PointXYZ > &input_points, navmap_ros_interfaces::msg::NavMap &out_msg, BuildParams params)
	Build a NavMap from an unorganized point cloud (multi-level grid triangulation).
navmap::NavMap	from_regular_grid (const pcl::PointCloud< pcl::PointXYZ > &grid_points, navmap_ros_interfaces::msg::NavMap &out_msg, BuildParams params)
	Build a NavMap surface from an organized (grid-shaped) PCL point cloud.
navmap_ros_interfaces::msg::NavMapLayer	to_layer_update_msg (const navmap::NavMap &nm, const std::string &layer, const std_msgs::msg::Header &header=std_msgs::msg::Header(), float max_sparse_fraction=0.25f)
	Layer update with only what changed since the layer's last clear_changes().
navmap_ros_interfaces::msg::NavMap	to_msg (const navmap::NavMap &nm)
	Backward-compatible overload (no header provided).
navmap_ros_interfaces::msg::NavMapLayer	to_msg (const navmap::NavMap &nm, const std::string &layer)
	Backward-compatible overload (no header provided).
navmap_ros_interfaces::msg::NavMapLayer	to_msg (const navmap::NavMap &nm, const std::string &layer, const std_msgs::msg::Header &header)
	Convert a single layer from a NavMap into a ROS message.
navmap_ros_interfaces::msg::NavMap	to_msg (const navmap::NavMap &nm, const std_msgs::msg::Header &header)
	Convert a core navmap::NavMap into its compact ROS transport message.
nav_msgs::msg::OccupancyGrid	to_occupancy_grid (const navmap::NavMap &nm)
	Backward-compatible overload.
nav_msgs::msg::OccupancyGrid	to_occupancy_grid (const navmap::NavMap &nm, const std_msgs::msg::Header &header)
	Convert a navmap::NavMap back to nav_msgs::msg::OccupancyGrid.

Variables
constexpr std::uint8_t	FREE_SPACE
	Known free.
constexpr std::uint8_t	INSCRIBED_INFLATED_OBSTACLE
	The robot would touch an obstacle.
constexpr std::uint8_t	LETHAL_OBSTACLE
	Obstacle.
constexpr std::uint8_t	MAX_NON_OBSTACLE
	Highest traversable cost.
constexpr std::uint8_t	NO_INFORMATION
	Unknown, not observed.

Detailed Description

Conversions between the core NavMap representation and ROS messages.

This header provides:

• Lossless conversion between the core type navmap::NavMap and the compact transport message navmap_ros_interfaces::msg::NavMap.
• Bidirectional conversion between nav_msgs::msg::OccupancyGrid and navmap::NavMap using a regular triangular mesh (shared vertices, two triangles per grid cell).

Occupancy mapping

When building a NavMap from an OccupancyGrid, a per-NavCel (triangle) layer named "occupancy" (uint8) is added with the following value mapping:

• -1 (unknown) → 255
• 0..100 (percent) → 0..254 (linear scaling)

The reverse conversion reuses that layer when present.