alb_helper.h

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#ifndef _ALB_HELPER_H
#define _ALB_HELPER_H
 
// ROS headers
#include "geometry_msgs/PoseStamped.h"
#include "nav_msgs/Odometry.h"
#include "sensor_msgs/PointCloud2.h"
#include "tf2_geometry_msgs/tf2_geometry_msgs.h"
 
// Json parser
#include <nlohmann/json.hpp>
 
// Osef headers
#include "tlvCommon.h"
 
// Local headers
#include "outsight_alb_driver/AugmentedCloud.h"
#include "outsight_alb_driver/ObjectData.h"
#include "outsight_alb_driver/Zones.h"
 
namespace Helper
{
void define_point_fields(sensor_msgs::PointCloud2 &pointCloud);
 
void define_points_data(sensor_msgs::PointCloud2 &pointCloud, const uint32_t layers, const uint32_t points,
                        float *pointData, bool use_colwise_order);
 
void define_pose(geometry_msgs::Pose &pose, const std::array<float, 3> &position, const std::array<float, 9> &rotation);
 
void init_pose(geometry_msgs::Pose &pose);
 
void parse_zone_data(const std::string &raw_zones, outsight_alb_driver::Zones &zones_msg);
 
bool get_pose_from_tlv(const Tlv::tlv_s *frame, geometry_msgs::PoseStamped &pose);
 
bool get_egomotion_from_tlv(const Tlv::tlv_s *frame, geometry_msgs::PoseStamped &pose);
 
void computeOdometry(nav_msgs::Odometry &odom, const geometry_msgs::Pose &current_pose,
                     const geometry_msgs::Pose &last_pose, const geometry_msgs::Pose &first_pose, float dt);
 
std::string get_object_class(uint32_t classId);
 
void define_box_size(outsight_alb_driver::ObjectData &tracked, const Tlv::tlv_s *bBoxSizes, size_t objectIndex);
 
void define_box_pose(outsight_alb_driver::ObjectData &tracked, const Tlv::tlv_s *bBoxPoses, size_t objectIndex);
 
void define_object_speed(outsight_alb_driver::ObjectData &tracked, const Tlv::tlv_s *objectSpeeds, size_t objectIndex);
 
void define_augmented_cloud(outsight_alb_driver::AugmentedCloud &message, const Tlv::tlv_s *frame);
}; // namespace Helper
 
#endif //_ALB_HELPER_H