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juanscelygjuanscelyg
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‎easynav_pointcloud_common/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.20)
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project(easynav_pointcloud_common)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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set(CMAKE_CXX_STANDARD 23)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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set(CMAKE_CXX_EXTENSIONS OFF)
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find_package(ament_cmake REQUIRED)
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find_package(easynav_common REQUIRED)
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# find_package(pluginlib REQUIRED)
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add_library(${PROJECT_NAME} SHARED
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src/easynav_pointcloud_common/PointCloudData.cpp
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)
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target_include_directories(${PROJECT_NAME} PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include/${PROJECT_NAME}>
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)
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target_link_libraries(${PROJECT_NAME} PUBLIC
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easynav_common::easynav_common
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# pluginlib::pluginlib
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)
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install(
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DIRECTORY include/
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DESTINATION include/${PROJECT_NAME}
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)
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install(TARGETS
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${PROJECT_NAME}
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EXPORT export_${PROJECT_NAME}
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION lib/${PROJECT_NAME}
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)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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set(ament_cmake_copyright_FOUND TRUE)
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set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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find_package(ament_cmake_gtest REQUIRED)
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#add_subdirectory(tests)
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endif()
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ament_export_include_directories("include/${PROJECT_NAME}")
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ament_export_libraries(${PROJECT_NAME})
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ament_export_targets(export_${PROJECT_NAME})
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ament_export_dependencies(
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easynav_common
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# pluginlib
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)
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ament_package()

‎easynav_pointcloud_common/include/easynav_pointcloud_common/PointCloudData.hpp‎

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// Copyright 2025 Intelligent Robotics Lab
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//
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// This file is part of the project Easy Navigation (EasyNav in short)
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// licensed under the GNU General Public License v3.0.
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// See <http://www.gnu.org/licenses/> for details.
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//
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// Easy Navigation program is free software: you can redistribute it and/or modify
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// it under the terms of the GNU General Public License as published by
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// the Free Software Foundation, either version 3 of the License, or
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// (at your option) any later version.
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//
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// This program is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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// GNU General Public License for more details.
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//
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// You should have received a copy of the GNU General Public License
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// along with this program. If not, see <http://www.gnu.org/licenses/>.
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/// \file
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/// \brief Declaration of the PointCloudData type.
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#ifndef EASYNAV_POINTCLOUD_MAPS_MANAGER_POINTCLOUDDATA_HPP_
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#define EASYNAV_POINTCLOUD_MAPS_MANAGER_POINTCLOUDDATA_HPP_
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#include <vector>
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#include <stdexcept>
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#include <algorithm>
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#include <utility>
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#include <fstream>
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#include <sstream>
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#include "sensor_msgs/msg/point_cloud2.hpp"
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#include "sensor_msgs/msg/point_field.hpp"
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#include <pcl/io/pcd_io.h>
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#include <pcl/point_types.h>
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#include "pcl_conversions/pcl_conversions.h"
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#include "pcl/point_types_conversion.h"
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namespace easynav
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{
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/**
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* @class PointCloudData
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* @brief Point Cloud representation using basic C++ types.
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*/
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class PointCloudData
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{
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public:
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/**
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* @brief Default constructor.
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*/
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PointCloudData();
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/**
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* @brief Initialize the map with characteristics of Point Cloud 2.
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*
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* @param width_ Number of columns.
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* @param height_ Number of rows.
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* @param point_step_ Number of elements per point.
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* @param row_step_ Number of elements per row.
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*/
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void initialize(
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std::size_t width_, std::size_t height_, std::size_t point_step_,
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std::size_t row_step_);
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/**
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* @brief Returns the width (number of columns) of the map.
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*/
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size_t width() const {return width_;}
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/**
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* @brief Returns the height (number of rows) of the map.
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*/
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size_t height() const {return height_;}
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/**
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* @brief Load map data from a PointCloudData object.
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*
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* This function get elements from another PointCloudData object to copy data.
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*
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* @param other PointCloudData object source of data.
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*/
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void deep_copy(const PointCloudData & other);
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/**
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* @brief Load map data from sensor_msgs::msg::PointCloud2 message.
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*
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* This function read data from a Point Cloud 2 msg to set values
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* in PointCloudData objects.
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*
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* @param cloud_msg The Point Cloud 2 message to load from.
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*/
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void from_point_cloud(const sensor_msgs::msg::PointCloud2 & cloud_msg);
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/**
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* @brief Updates a sensor_msgs::msg::PointCloud2 message from the sensors
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* values into Easynav.
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*
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* @param cloud_msg The Point Cloud 2 message to be configured.
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* @param cloud Point Cloud with updated values from sensors.
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*/
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void refresh(
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sensor_msgs::msg::PointCloud2 & cloud_msg,
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pcl::PointCloud<pcl::PointXYZ> & cloud) const;
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/**
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* @brief Updates a sensor_msgs::msg::PointCloud2 message from the PointCloudData
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* contents.
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*
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* @param cloud_msg The Point Cloud 2 message to fill or update.
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*/
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void to_point_cloud(sensor_msgs::msg::PointCloud2 & cloud_msg) const;
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/**
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* @brief Saves the map to a file.
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* @param path Path to the output file.
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* @return true if the file was written successfully, false otherwise.
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*/
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bool save_to_file(const std::string & path) const;
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/**
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* @brief Loads the map from a file.
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* @param path Path to the input file.
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* @return true if the file was read successfully and is valid, false otherwise.
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*/
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bool load_from_file(const std::string & path);
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void show(void) const;
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private:
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std::size_t width_;
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std::size_t height_;
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std::size_t point_step_;
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std::size_t row_step_;
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std::vector<sensor_msgs::msg::PointField> fields_;
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std::vector<uint8_t> data_;
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std::vector<sensor_msgs::msg::PointField> get_fields(void) const;
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void get_cloud(pcl::PointCloud<pcl::PointXYZ> & cloud) const;
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};
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} // namespace easynav
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#endif // EASYNAV_POINTCLOUD_MAPS_MANAGER_POINTCLOUDDATA_HPP_

‎easynav_pointcloud_common/package.xml‎

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>easynav_pointcloud_common</name>
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<version>0.0.1</version>
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<description>Easy Navigation: Point Cloud Common Package.</description>
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<maintainer email="juanscelyg@gmail.com">juanscelyg</maintainer>
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<maintainer email="e.aguado.glez@gmail.com">esther</maintainer>
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<license>GPL-3.0-only</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<depend>easynav_common</depend>
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<!-- <depend>pluginlib</depend> -->
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<depend>ament_index_cpp</depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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<test_depend>ament_cmake_gtest</test_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

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