#include <ndt_map_publisher.hpp>

Public Types
using	MapConfig = perception::filters::voxel_grid::Config

Public Member Functions
	NDTMapPublisher (const MapConfig &map_config, sensor_msgs::msg::PointCloud2 &map_pc, sensor_msgs::msg::PointCloud2 &source_pc)

geocentric_pose_t	load_map (const std::string &yaml_file_name, const std::string &pcl_file_name)

void	map_to_pc (const ndt::DynamicNDTMap &ndt_map)

void	reset_pc_msg (sensor_msgs::msg::PointCloud2 &msg)

Member Typedef Documentation

◆ MapConfig

using autoware::localization::ndt::NDTMapPublisher::MapConfig = perception::filters::voxel_grid::Config

Constructor & Destructor Documentation

◆ NDTMapPublisher()

autoware::localization::ndt::NDTMapPublisher::NDTMapPublisher	(	const MapConfig &	map_config,
		sensor_msgs::msg::PointCloud2 &	map_pc,
		sensor_msgs::msg::PointCloud2 &	source_pc
	)

Member Function Documentation

◆ load_map()

geocentric_pose_t autoware::localization::ndt::NDTMapPublisher::load_map	(	const std::string &	yaml_file_name,
		const std::string &	pcl_file_name
	)

Read the pcd file with filename into a PointCloud2 message, transform it into an NDT representation and then serialize the ndt representation back into a PointCloud2 message that can be published.

Parameters

yaml_file_name	File name of the yaml file.
pcl_file_name	File name of the pcd file.

Returns: The geocentric position.

◆ map_to_pc()

void autoware::localization::ndt::NDTMapPublisher::map_to_pc ( const ndt::DynamicNDTMap & ndt_map )

Iterate over the map representation and convert it into a PointCloud2 message where each voxel in the map corresponds to a single point in the PointCloud2 field. See the documentation for the specs and the format of the point cloud message.

◆ reset_pc_msg()

void autoware::localization::ndt::NDTMapPublisher::reset_pc_msg ( sensor_msgs::msg::PointCloud2 & msg )

Convenience function to clear the contents of a pointcloud message. Can be removed when #102 is merged in.

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

Public Types

Public Member Functions