Class ImagePerception

• Defined in File ImagePerception.hpp

Inheritance Relationships

Base Type

• public easynav::PerceptionBase (Class PerceptionBase)

Class Documentation

class ImagePerception : public easynav::PerceptionBase

Represents a single image perception from a sensor.

Inherits from PerceptionBase and stores an OpenCV image (cv::Mat) along with metadata such as timestamp and frame_id.

Public Members

cv::Mat data

Image data received from the sensor.

The matrix layout follows OpenCV conventions. The encoding and channel depth depend on upstream conversion (typically via cv_bridge).

Public Static Functions

static inline bool supports_msg_type(std::string_view t)

Returns whether the given ROS 2 type name is supported by this perception.

Parameters:

t – Fully qualified message type name (e.g., “sensor_msgs/msg/Image”).

Returns:

true if t equals “sensor_msgs/msg/Image”, otherwise false.

Public Static Attributes

static constexpr std::string_view default_group_ = "image"

Group identifier for image perceptions.