rtabmap_ros Namespace Reference

Namespaces
	compression

Classes
class	CommonDataSubscriber
class	CoreWrapper
class	DataOdomSyncNodelet
class	DataThrottleNodelet
class	DisparityToDepth
class	GuiWrapper
class	ICPOdometry
class	ImuToTF
class	InfoDisplay
class	MapCloudDisplay
	Displays point clouds from rtabmap::MapData. More...
class	MapGraphDisplay
	Displays the graph of rtabmap::MapGraph message. More...
class	ObstaclesDetection
class	ObstaclesDetectionOld
class	OdometryROS
class	OrbitOrientedViewController
class	PluginInterface
class	PointCloudAggregator
class	PointCloudAssembler
class	PointCloudToDepthImage
class	PointCloudXYZ
class	PointCloudXYZRGB
class	RGBDICPOdometry
class	RGBDOdometry
class	RGBDRelay
class	RGBDSync
class	RgbSync
class	StaticLayer
class	StereoOdometry
class	StereoSync
class	StereoThrottleNodelet
class	UndistortDepth
class	VoxelLayer

Functions
rtabmap::CameraModel	cameraModelFromROS (const sensor_msgs::CameraInfo &camInfo, const rtabmap::Transform &localTransform=rtabmap::Transform::getIdentity())
void	cameraModelToROS (const rtabmap::CameraModel &model, sensor_msgs::CameraInfo &camInfo)
cv::Mat	compressedMatFromBytes (const std::vector< unsigned char > &bytes, bool copy=true)
void	compressedMatToBytes (const cv::Mat &compressed, std::vector< unsigned char > &bytes)
bool	convertRGBDMsgs (const std::vector< cv_bridge::CvImageConstPtr > &imageMsgs, const std::vector< cv_bridge::CvImageConstPtr > &depthMsgs, const std::vector< sensor_msgs::CameraInfo > &cameraInfoMsgs, const std::string &frameId, const std::string &odomFrameId, const ros::Time &odomStamp, cv::Mat &rgb, cv::Mat &depth, std::vector< rtabmap::CameraModel > &cameraModels, tf::TransformListener &listener, double waitForTransform, const std::vector< std::vector< rtabmap_ros::KeyPoint > > &localKeyPointsMsgs=std::vector< std::vector< rtabmap_ros::KeyPoint > >(), const std::vector< std::vector< rtabmap_ros::Point3f > > &localPoints3dMsgs=std::vector< std::vector< rtabmap_ros::Point3f > >(), const std::vector< cv::Mat > &localDescriptorsMsgs=std::vector< cv::Mat >(), std::vector< cv::KeyPoint > *localKeyPoints=0, std::vector< cv::Point3f > *localPoints3d=0, cv::Mat *localDescriptors=0)
bool	convertScan3dMsg (const sensor_msgs::PointCloud2 &scan3dMsg, const std::string &frameId, const std::string &odomFrameId, const ros::Time &odomStamp, rtabmap::LaserScan &scan, tf::TransformListener &listener, double waitForTransform, int maxPoints=0, float maxRange=0.0f)
bool	convertScanMsg (const sensor_msgs::LaserScan &scan2dMsg, const std::string &frameId, const std::string &odomFrameId, const ros::Time &odomStamp, rtabmap::LaserScan &scan, tf::TransformListener &listener, double waitForTransform, bool outputInFrameId=false)
bool	convertStereoMsg (const cv_bridge::CvImageConstPtr &leftImageMsg, const cv_bridge::CvImageConstPtr &rightImageMsg, const sensor_msgs::CameraInfo &leftCamInfoMsg, const sensor_msgs::CameraInfo &rightCamInfoMsg, const std::string &frameId, const std::string &odomFrameId, const ros::Time &odomStamp, cv::Mat &left, cv::Mat &right, rtabmap::StereoCameraModel &stereoModel, tf::TransformListener &listener, double waitForTransform, bool alreadyRectified)
rtabmap::EnvSensor	envSensorFromROS (const rtabmap_ros::EnvSensor &msg)
rtabmap::EnvSensors	envSensorsFromROS (const std::vector< rtabmap_ros::EnvSensor > &msg)
void	envSensorsToROS (const rtabmap::EnvSensors &sensors, std::vector< rtabmap_ros::EnvSensor > &msg)
void	envSensorToROS (const rtabmap::EnvSensor &sensor, rtabmap_ros::EnvSensor &msg)
rtabmap::Transform	getTransform (const std::string &fromFrameId, const std::string &toFrameId, const ros::Time &stamp, tf::TransformListener &listener, double waitForTransform)
rtabmap::Transform	getTransform (const std::string &sourceTargetFrame, const std::string &fixedFrame, const ros::Time &stampSource, const ros::Time &stampTarget, tf::TransformListener &listener, double waitForTransform)
rtabmap::GlobalDescriptor	globalDescriptorFromROS (const rtabmap_ros::GlobalDescriptor &msg)
std::vector< rtabmap::GlobalDescriptor >	globalDescriptorsFromROS (const std::vector< rtabmap_ros::GlobalDescriptor > &msg)
void	globalDescriptorsToROS (const std::vector< rtabmap::GlobalDescriptor > &desc, std::vector< rtabmap_ros::GlobalDescriptor > &msg)
void	globalDescriptorToROS (const rtabmap::GlobalDescriptor &desc, rtabmap_ros::GlobalDescriptor &msg)
void	infoFromROS (const rtabmap_ros::Info &info, rtabmap::Statistics &stat)
void	infoToROS (const rtabmap::Statistics &stats, rtabmap_ros::Info &info)
cv::KeyPoint	keypointFromROS (const rtabmap_ros::KeyPoint &msg)
std::vector< cv::KeyPoint >	keypointsFromROS (const std::vector< rtabmap_ros::KeyPoint > &msg)
void	keypointsFromROS (const std::vector< rtabmap_ros::KeyPoint > &msg, std::vector< cv::KeyPoint > &kpts, int xShift=0)
void	keypointsToROS (const std::vector< cv::KeyPoint > &kpts, std::vector< rtabmap_ros::KeyPoint > &msg)
void	keypointToROS (const cv::KeyPoint &kpt, rtabmap_ros::KeyPoint &msg)
rtabmap::Landmarks	landmarksFromROS (const std::map< int, geometry_msgs::PoseWithCovarianceStamped > &tags, const std::string &frameId, const std::string &odomFrameId, const ros::Time &odomStamp, tf::TransformListener &listener, double waitForTransform, double defaultLinVariance, double defaultAngVariance)
rtabmap::Link	linkFromROS (const rtabmap_ros::Link &msg)
void	linkToROS (const rtabmap::Link &link, rtabmap_ros::Link &msg)
void	mapDataFromROS (const rtabmap_ros::MapData &msg, std::map< int, rtabmap::Transform > &poses, std::multimap< int, rtabmap::Link > &links, std::map< int, rtabmap::Signature > &signatures, rtabmap::Transform &mapToOdom)
void	mapDataToROS (const std::map< int, rtabmap::Transform > &poses, const std::multimap< int, rtabmap::Link > &links, const std::map< int, rtabmap::Signature > &signatures, const rtabmap::Transform &mapToOdom, rtabmap_ros::MapData &msg)
void	mapGraphFromROS (const rtabmap_ros::MapGraph &msg, std::map< int, rtabmap::Transform > &poses, std::multimap< int, rtabmap::Link > &links, rtabmap::Transform &mapToOdom)
void	mapGraphToROS (const std::map< int, rtabmap::Transform > &poses, const std::multimap< int, rtabmap::Link > &links, const rtabmap::Transform &mapToOdom, rtabmap_ros::MapGraph &msg)
rtabmap::Signature	nodeDataFromROS (const rtabmap_ros::NodeData &msg)
void	nodeDataToROS (const rtabmap::Signature &signature, rtabmap_ros::NodeData &msg)
rtabmap::Signature	nodeInfoFromROS (const rtabmap_ros::NodeData &msg)
void	nodeInfoToROS (const rtabmap::Signature &signature, rtabmap_ros::NodeData &msg)
rtabmap::OdometryInfo	odomInfoFromROS (const rtabmap_ros::OdomInfo &msg)
void	odomInfoToROS (const rtabmap::OdometryInfo &info, rtabmap_ros::OdomInfo &msg)
std::map< std::string, float >	odomInfoToStatistics (const rtabmap::OdometryInfo &info)
	PLUGINLIB_EXPORT_CLASS (rtabmap_ros::UndistortDepth, nodelet::Nodelet)
	PLUGINLIB_EXPORT_CLASS (rtabmap_ros::ImuToTF, nodelet::Nodelet)
	PLUGINLIB_EXPORT_CLASS (rtabmap_ros::DataOdomSyncNodelet, nodelet::Nodelet)
	PLUGINLIB_EXPORT_CLASS (rtabmap_ros::DisparityToDepth, nodelet::Nodelet)
	PLUGINLIB_EXPORT_CLASS (rtabmap_ros::RGBDRelay, nodelet::Nodelet)
	PLUGINLIB_EXPORT_CLASS (rtabmap_ros::RgbSync, nodelet::Nodelet)
	PLUGINLIB_EXPORT_CLASS (rtabmap_ros::DataThrottleNodelet, nodelet::Nodelet)
	PLUGINLIB_EXPORT_CLASS (rtabmap_ros::StereoSync, nodelet::Nodelet)
	PLUGINLIB_EXPORT_CLASS (rtabmap_ros::StereoThrottleNodelet, nodelet::Nodelet)
	PLUGINLIB_EXPORT_CLASS (rtabmap_ros::PointCloudToDepthImage, nodelet::Nodelet)
	PLUGINLIB_EXPORT_CLASS (rtabmap_ros::RGBDSync, nodelet::Nodelet)
	PLUGINLIB_EXPORT_CLASS (rtabmap_ros::PointCloudAggregator, nodelet::Nodelet)
	PLUGINLIB_EXPORT_CLASS (rtabmap_ros::ObstaclesDetectionOld, nodelet::Nodelet)
	PLUGINLIB_EXPORT_CLASS (rtabmap_ros::PointCloudXYZ, nodelet::Nodelet)
	PLUGINLIB_EXPORT_CLASS (rtabmap_ros::PointCloudAssembler, nodelet::Nodelet)
	PLUGINLIB_EXPORT_CLASS (rtabmap_ros::ObstaclesDetection, nodelet::Nodelet)
	PLUGINLIB_EXPORT_CLASS (rtabmap_ros::StereoOdometry, nodelet::Nodelet)
	PLUGINLIB_EXPORT_CLASS (rtabmap_ros::RGBDICPOdometry, nodelet::Nodelet)
	PLUGINLIB_EXPORT_CLASS (rtabmap_ros::PointCloudXYZRGB, nodelet::Nodelet)
	PLUGINLIB_EXPORT_CLASS (rtabmap_ros::RGBDOdometry, nodelet::Nodelet)
	PLUGINLIB_EXPORT_CLASS (rtabmap_ros::ICPOdometry, nodelet::Nodelet)
	PLUGINLIB_EXPORT_CLASS (rtabmap_ros::CoreWrapper, nodelet::Nodelet)
cv::Point2f	point2fFromROS (const rtabmap_ros::Point2f &msg)
void	point2fToROS (const cv::Point2f &kpt, rtabmap_ros::Point2f &msg)
cv::Point3f	point3fFromROS (const rtabmap_ros::Point3f &msg)
void	point3fToROS (const cv::Point3f &pt, rtabmap_ros::Point3f &msg)
std::vector< cv::Point2f >	points2fFromROS (const std::vector< rtabmap_ros::Point2f > &msg)
void	points2fToROS (const std::vector< cv::Point2f > &kpts, std::vector< rtabmap_ros::Point2f > &msg)
std::vector< cv::Point3f >	points3fFromROS (const std::vector< rtabmap_ros::Point3f > &msg, const rtabmap::Transform &transform=rtabmap::Transform())
void	points3fFromROS (const std::vector< rtabmap_ros::Point3f > &msg, std::vector< cv::Point3f > &points3, const rtabmap::Transform &transform=rtabmap::Transform())
void	points3fToROS (const std::vector< cv::Point3f > &pts, std::vector< rtabmap_ros::Point3f > &msg, const rtabmap::Transform &transform=rtabmap::Transform())
rtabmap::SensorData	rgbdImageFromROS (const rtabmap_ros::RGBDImageConstPtr &image)
void	rgbdImageToROS (const rtabmap::SensorData &data, rtabmap_ros::RGBDImage &msg, const std::string &sensorFrameId)
rtabmap::StereoCameraModel	stereoCameraModelFromROS (const sensor_msgs::CameraInfo &leftCamInfo, const sensor_msgs::CameraInfo &rightCamInfo, const rtabmap::Transform &localTransform=rtabmap::Transform::getIdentity(), const rtabmap::Transform &stereoTransform=rtabmap::Transform())
rtabmap::StereoCameraModel	stereoCameraModelFromROS (const sensor_msgs::CameraInfo &leftCamInfo, const sensor_msgs::CameraInfo &rightCamInfo, const std::string &frameId, tf::TransformListener &listener, double waitForTransform)
double	timestampFromROS (const ros::Time &stamp)
void	toCvCopy (const rtabmap_ros::RGBDImage &image, cv_bridge::CvImagePtr &rgb, cv_bridge::CvImagePtr &depth)
void	toCvShare (const rtabmap_ros::RGBDImageConstPtr &image, cv_bridge::CvImageConstPtr &rgb, cv_bridge::CvImageConstPtr &depth)
rtabmap::Transform	transformFromGeometryMsg (const geometry_msgs::Transform &msg)
rtabmap::Transform	transformFromPoseMsg (const geometry_msgs::Pose &msg, bool ignoreRotationIfNotSet=false)
rtabmap::Transform	transformFromTF (const tf::Transform &transform)
void	transformToGeometryMsg (const rtabmap::Transform &transform, geometry_msgs::Transform &msg)
void	transformToPoseMsg (const rtabmap::Transform &transform, geometry_msgs::Pose &msg)
void	transformToTF (const rtabmap::Transform &transform, tf::Transform &tfTransform)
cv::Mat	userDataFromROS (const rtabmap_ros::UserData &dataMsg)
void	userDataToROS (const cv::Mat &data, rtabmap_ros::UserData &dataMsg, bool compress)

Function Documentation

rtabmap::CameraModel rtabmap_ros::cameraModelFromROS	(	const sensor_msgs::CameraInfo &	camInfo,
		const rtabmap::Transform &	localTransform = rtabmap::Transform::getIdentity()
	)

Definition at line 767 of file MsgConversion.cpp.

void rtabmap_ros::cameraModelToROS	(	const rtabmap::CameraModel &	model,
		sensor_msgs::CameraInfo &	camInfo
	)

Definition at line 821 of file MsgConversion.cpp.

cv::Mat rtabmap_ros::compressedMatFromBytes	(	const std::vector< unsigned char > &	bytes,
		bool	copy = true
	)

Definition at line 424 of file MsgConversion.cpp.

void rtabmap_ros::compressedMatToBytes	(	const cv::Mat &	compressed,
		std::vector< unsigned char > &	bytes
	)

Definition at line 413 of file MsgConversion.cpp.

bool rtabmap_ros::convertRGBDMsgs	(	const std::vector< cv_bridge::CvImageConstPtr > &	imageMsgs,
		const std::vector< cv_bridge::CvImageConstPtr > &	depthMsgs,
		const std::vector< sensor_msgs::CameraInfo > &	cameraInfoMsgs,
		const std::string &	frameId,
		const std::string &	odomFrameId,
		const ros::Time &	odomStamp,
		cv::Mat &	rgb,
		cv::Mat &	depth,
		std::vector< rtabmap::CameraModel > &	cameraModels,
		tf::TransformListener &	listener,
		double	waitForTransform,
		const std::vector< std::vector< rtabmap_ros::KeyPoint > > &	localKeyPointsMsgs = std::vector<std::vector<rtabmap_ros::KeyPoint> >(),
		const std::vector< std::vector< rtabmap_ros::Point3f > > &	localPoints3dMsgs = std::vector<std::vector<rtabmap_ros::Point3f> >(),
		const std::vector< cv::Mat > &	localDescriptorsMsgs = std::vector<cv::Mat>(),
		std::vector< cv::KeyPoint > *	localKeyPoints = 0,
		std::vector< cv::Point3f > *	localPoints3d = 0,
		cv::Mat *	localDescriptors = 0
	)

Definition at line 1685 of file MsgConversion.cpp.

bool rtabmap_ros::convertScan3dMsg	(	const sensor_msgs::PointCloud2 &	scan3dMsg,
		const std::string &	frameId,
		const std::string &	odomFrameId,
		const ros::Time &	odomStamp,
		rtabmap::LaserScan &	scan,
		tf::TransformListener &	listener,
		double	waitForTransform,
		int	maxPoints = 0,
		float	maxRange = 0.0f
	)

Definition at line 2138 of file MsgConversion.cpp.

bool rtabmap_ros::convertScanMsg	(	const sensor_msgs::LaserScan &	scan2dMsg,
		const std::string &	frameId,
		const std::string &	odomFrameId,
		const ros::Time &	odomStamp,
		rtabmap::LaserScan &	scan,
		tf::TransformListener &	listener,
		double	waitForTransform,
		bool	outputInFrameId = false
	)

Definition at line 1998 of file MsgConversion.cpp.

bool rtabmap_ros::convertStereoMsg	(	const cv_bridge::CvImageConstPtr &	leftImageMsg,
		const cv_bridge::CvImageConstPtr &	rightImageMsg,
		const sensor_msgs::CameraInfo &	leftCamInfoMsg,
		const sensor_msgs::CameraInfo &	rightCamInfoMsg,
		const std::string &	frameId,
		const std::string &	odomFrameId,
		const ros::Time &	odomStamp,
		cv::Mat &	left,
		cv::Mat &	right,
		rtabmap::StereoCameraModel &	stereoModel,
		tf::TransformListener &	listener,
		double	waitForTransform,
		bool	alreadyRectified
	)

Definition at line 1871 of file MsgConversion.cpp.

rtabmap::EnvSensor rtabmap_ros::envSensorFromROS

(

const rtabmap_ros::EnvSensor &

msg

)

Definition at line 637 of file MsgConversion.cpp.

rtabmap::EnvSensors rtabmap_ros::envSensorsFromROS

(

const std::vector< rtabmap_ros::EnvSensor > &

msg

)

Definition at line 649 of file MsgConversion.cpp.

void rtabmap_ros::envSensorsToROS	(	const rtabmap::EnvSensors &	sensors,
		std::vector< rtabmap_ros::EnvSensor > &	msg
	)

Definition at line 663 of file MsgConversion.cpp.

void rtabmap_ros::envSensorToROS	(	const rtabmap::EnvSensor &	sensor,
		rtabmap_ros::EnvSensor &	msg
	)

Definition at line 642 of file MsgConversion.cpp.

rtabmap::Transform rtabmap_ros::getTransform	(	const std::string &	fromFrameId,
		const std::string &	toFrameId,
		const ros::Time &	stamp,
		tf::TransformListener &	listener,
		double	waitForTransform
	)

Definition at line 1614 of file MsgConversion.cpp.

rtabmap::Transform rtabmap_ros::getTransform	(	const std::string &	sourceTargetFrame,
		const std::string &	fixedFrame,
		const ros::Time &	stampSource,
		const ros::Time &	stampTarget,
		tf::TransformListener &	listener,
		double	waitForTransform
	)

Definition at line 1650 of file MsgConversion.cpp.

rtabmap::GlobalDescriptor rtabmap_ros::globalDescriptorFromROS

(

const rtabmap_ros::GlobalDescriptor &

msg

)

Definition at line 598 of file MsgConversion.cpp.

std::vector< rtabmap::GlobalDescriptor > rtabmap_ros::globalDescriptorsFromROS

(

const std::vector< rtabmap_ros::GlobalDescriptor > &

msg

)

Definition at line 610 of file MsgConversion.cpp.

void rtabmap_ros::globalDescriptorsToROS	(	const std::vector< rtabmap::GlobalDescriptor > &	desc,
		std::vector< rtabmap_ros::GlobalDescriptor > &	msg
	)

Definition at line 624 of file MsgConversion.cpp.

void rtabmap_ros::globalDescriptorToROS	(	const rtabmap::GlobalDescriptor &	desc,
		rtabmap_ros::GlobalDescriptor &	msg
	)

Definition at line 603 of file MsgConversion.cpp.

void rtabmap_ros::infoFromROS	(	const rtabmap_ros::Info &	info,
		rtabmap::Statistics &	stat
	)

Definition at line 438 of file MsgConversion.cpp.

void rtabmap_ros::infoToROS	(	const rtabmap::Statistics &	stats,
		rtabmap_ros::Info &	info
	)

Definition at line 499 of file MsgConversion.cpp.

cv::KeyPoint rtabmap_ros::keypointFromROS

(

const rtabmap_ros::KeyPoint &

msg

)

Definition at line 552 of file MsgConversion.cpp.

std::vector< cv::KeyPoint > rtabmap_ros::keypointsFromROS

(

const std::vector< rtabmap_ros::KeyPoint > &

msg

)

Definition at line 568 of file MsgConversion.cpp.

void rtabmap_ros::keypointsFromROS	(	const std::vector< rtabmap_ros::KeyPoint > &	msg,
		std::vector< cv::KeyPoint > &	kpts,
		int	xShift = 0
	)

Definition at line 578 of file MsgConversion.cpp.

void rtabmap_ros::keypointsToROS	(	const std::vector< cv::KeyPoint > &	kpts,
		std::vector< rtabmap_ros::KeyPoint > &	msg
	)

Definition at line 589 of file MsgConversion.cpp.

void rtabmap_ros::keypointToROS	(	const cv::KeyPoint &	kpt,
		rtabmap_ros::KeyPoint &	msg
	)

Definition at line 557 of file MsgConversion.cpp.

rtabmap::Landmarks rtabmap_ros::landmarksFromROS	(	const std::map< int, geometry_msgs::PoseWithCovarianceStamped > &	tags,
		const std::string &	frameId,
		const std::string &	odomFrameId,
		const ros::Time &	odomStamp,
		tf::TransformListener &	listener,
		double	waitForTransform,
		double	defaultLinVariance,
		double	defaultAngVariance
	)

Definition at line 1546 of file MsgConversion.cpp.

rtabmap::Link rtabmap_ros::linkFromROS

(

const rtabmap_ros::Link &

msg

)

Definition at line 534 of file MsgConversion.cpp.

void rtabmap_ros::linkToROS	(	const rtabmap::Link &	link,
		rtabmap_ros::Link &	msg
	)

Definition at line 540 of file MsgConversion.cpp.

void rtabmap_ros::mapDataFromROS	(	const rtabmap_ros::MapData &	msg,
		std::map< int, rtabmap::Transform > &	poses,
		std::multimap< int, rtabmap::Link > &	links,
		std::map< int, rtabmap::Signature > &	signatures,
		rtabmap::Transform &	mapToOdom
	)

Definition at line 929 of file MsgConversion.cpp.

void rtabmap_ros::mapDataToROS	(	const std::map< int, rtabmap::Transform > &	poses,
		const std::multimap< int, rtabmap::Link > &	links,
		const std::map< int, rtabmap::Signature > &	signatures,
		const rtabmap::Transform &	mapToOdom,
		rtabmap_ros::MapData &	msg
	)

Definition at line 945 of file MsgConversion.cpp.

void rtabmap_ros::mapGraphFromROS	(	const rtabmap_ros::MapGraph &	msg,
		std::map< int, rtabmap::Transform > &	poses,
		std::multimap< int, rtabmap::Link > &	links,
		rtabmap::Transform &	mapToOdom
	)

Definition at line 966 of file MsgConversion.cpp.

void rtabmap_ros::mapGraphToROS	(	const std::map< int, rtabmap::Transform > &	poses,
		const std::multimap< int, rtabmap::Link > &	links,
		const rtabmap::Transform &	mapToOdom,
		rtabmap_ros::MapGraph &	msg
	)

Definition at line 985 of file MsgConversion.cpp.

rtabmap::Signature rtabmap_ros::nodeDataFromROS

(

const rtabmap_ros::NodeData &

msg

)

Definition at line 1016 of file MsgConversion.cpp.

void rtabmap_ros::nodeDataToROS	(	const rtabmap::Signature &	signature,
		rtabmap_ros::NodeData &	msg
	)

Definition at line 1150 of file MsgConversion.cpp.

rtabmap::Signature rtabmap_ros::nodeInfoFromROS

(

const rtabmap_ros::NodeData &

msg

)

Definition at line 1271 of file MsgConversion.cpp.

void rtabmap_ros::nodeInfoToROS	(	const rtabmap::Signature &	signature,
		rtabmap_ros::NodeData &	msg
	)

Definition at line 1283 of file MsgConversion.cpp.

rtabmap::OdometryInfo rtabmap_ros::odomInfoFromROS

(

const rtabmap_ros::OdomInfo &

msg

)

Definition at line 1384 of file MsgConversion.cpp.

void rtabmap_ros::odomInfoToROS	(	const rtabmap::OdometryInfo &	info,
		rtabmap_ros::OdomInfo &	msg
	)

Definition at line 1444 of file MsgConversion.cpp.

std::map< std::string, float > rtabmap_ros::odomInfoToStatistics

(

const rtabmap::OdometryInfo &

info

)

Definition at line 1295 of file MsgConversion.cpp.

rtabmap_ros::PLUGINLIB_EXPORT_CLASS	(	rtabmap_ros::UndistortDepth	,
		nodelet::Nodelet
	)

rtabmap_ros::PLUGINLIB_EXPORT_CLASS	(	rtabmap_ros::ImuToTF	,
		nodelet::Nodelet
	)

rtabmap_ros::PLUGINLIB_EXPORT_CLASS	(	rtabmap_ros::DataOdomSyncNodelet	,
		nodelet::Nodelet
	)

rtabmap_ros::PLUGINLIB_EXPORT_CLASS	(	rtabmap_ros::DisparityToDepth	,
		nodelet::Nodelet
	)

rtabmap_ros::PLUGINLIB_EXPORT_CLASS	(	rtabmap_ros::RGBDRelay	,
		nodelet::Nodelet
	)

rtabmap_ros::PLUGINLIB_EXPORT_CLASS	(	rtabmap_ros::RgbSync	,
		nodelet::Nodelet
	)

rtabmap_ros::PLUGINLIB_EXPORT_CLASS	(	rtabmap_ros::DataThrottleNodelet	,
		nodelet::Nodelet
	)

rtabmap_ros::PLUGINLIB_EXPORT_CLASS	(	rtabmap_ros::StereoSync	,
		nodelet::Nodelet
	)

rtabmap_ros::PLUGINLIB_EXPORT_CLASS	(	rtabmap_ros::StereoThrottleNodelet	,
		nodelet::Nodelet
	)

rtabmap_ros::PLUGINLIB_EXPORT_CLASS	(	rtabmap_ros::PointCloudToDepthImage	,
		nodelet::Nodelet
	)

rtabmap_ros::PLUGINLIB_EXPORT_CLASS	(	rtabmap_ros::RGBDSync	,
		nodelet::Nodelet
	)

rtabmap_ros::PLUGINLIB_EXPORT_CLASS	(	rtabmap_ros::PointCloudAggregator	,
		nodelet::Nodelet
	)

rtabmap_ros::PLUGINLIB_EXPORT_CLASS	(	rtabmap_ros::ObstaclesDetectionOld	,
		nodelet::Nodelet
	)

rtabmap_ros::PLUGINLIB_EXPORT_CLASS	(	rtabmap_ros::PointCloudXYZ	,
		nodelet::Nodelet
	)

rtabmap_ros::PLUGINLIB_EXPORT_CLASS	(	rtabmap_ros::PointCloudAssembler	,
		nodelet::Nodelet
	)

rtabmap_ros::PLUGINLIB_EXPORT_CLASS	(	rtabmap_ros::ObstaclesDetection	,
		nodelet::Nodelet
	)

rtabmap_ros::PLUGINLIB_EXPORT_CLASS	(	rtabmap_ros::StereoOdometry	,
		nodelet::Nodelet
	)

rtabmap_ros::PLUGINLIB_EXPORT_CLASS	(	rtabmap_ros::RGBDICPOdometry	,
		nodelet::Nodelet
	)

rtabmap_ros::PLUGINLIB_EXPORT_CLASS	(	rtabmap_ros::PointCloudXYZRGB	,
		nodelet::Nodelet
	)

rtabmap_ros::PLUGINLIB_EXPORT_CLASS	(	rtabmap_ros::RGBDOdometry	,
		nodelet::Nodelet
	)

rtabmap_ros::PLUGINLIB_EXPORT_CLASS	(	rtabmap_ros::ICPOdometry	,
		nodelet::Nodelet
	)

rtabmap_ros::PLUGINLIB_EXPORT_CLASS	(	rtabmap_ros::CoreWrapper	,
		nodelet::Nodelet
	)

cv::Point2f rtabmap_ros::point2fFromROS

(

const rtabmap_ros::Point2f &

msg

)

Definition at line 677 of file MsgConversion.cpp.

void rtabmap_ros::point2fToROS	(	const cv::Point2f &	kpt,
		rtabmap_ros::Point2f &	msg
	)

Definition at line 682 of file MsgConversion.cpp.

cv::Point3f rtabmap_ros::point3fFromROS

(

const rtabmap_ros::Point3f &

msg

)

Definition at line 707 of file MsgConversion.cpp.

void rtabmap_ros::point3fToROS	(	const cv::Point3f &	pt,
		rtabmap_ros::Point3f &	msg
	)

Definition at line 712 of file MsgConversion.cpp.

std::vector< cv::Point2f > rtabmap_ros::points2fFromROS

(

const std::vector< rtabmap_ros::Point2f > &

msg

)

Definition at line 688 of file MsgConversion.cpp.

void rtabmap_ros::points2fToROS	(	const std::vector< cv::Point2f > &	kpts,
		std::vector< rtabmap_ros::Point2f > &	msg
	)

Definition at line 698 of file MsgConversion.cpp.

std::vector< cv::Point3f > rtabmap_ros::points3fFromROS	(	const std::vector< rtabmap_ros::Point3f > &	msg,
		const rtabmap::Transform &	transform = rtabmap::Transform()
	)

Definition at line 719 of file MsgConversion.cpp.

void rtabmap_ros::points3fFromROS	(	const std::vector< rtabmap_ros::Point3f > &	msg,
		std::vector< cv::Point3f > &	points3,
		const rtabmap::Transform &	transform = rtabmap::Transform()
	)

Definition at line 734 of file MsgConversion.cpp.

void rtabmap_ros::points3fToROS	(	const std::vector< cv::Point3f > &	pts,
		std::vector< rtabmap_ros::Point3f > &	msg,
		const rtabmap::Transform &	transform = rtabmap::Transform()
	)

Definition at line 749 of file MsgConversion.cpp.

rtabmap::SensorData rtabmap_ros::rgbdImageFromROS

(

const rtabmap_ros::RGBDImageConstPtr &

image

)

Definition at line 281 of file MsgConversion.cpp.

void rtabmap_ros::rgbdImageToROS	(	const rtabmap::SensorData &	data,
		rtabmap_ros::RGBDImage &	msg,
		const std::string &	sensorFrameId
	)

Definition at line 205 of file MsgConversion.cpp.

rtabmap::StereoCameraModel rtabmap_ros::stereoCameraModelFromROS	(	const sensor_msgs::CameraInfo &	leftCamInfo,
		const sensor_msgs::CameraInfo &	rightCamInfo,
		const rtabmap::Transform &	localTransform = rtabmap::Transform::getIdentity(),
		const rtabmap::Transform &	stereoTransform = rtabmap::Transform()
	)

Definition at line 886 of file MsgConversion.cpp.

rtabmap::StereoCameraModel rtabmap_ros::stereoCameraModelFromROS	(	const sensor_msgs::CameraInfo &	leftCamInfo,
		const sensor_msgs::CameraInfo &	rightCamInfo,
		const std::string &	frameId,
		tf::TransformListener &	listener,
		double	waitForTransform
	)

Definition at line 898 of file MsgConversion.cpp.

double rtabmap_ros::timestampFromROS ( const ros::Time &  stamp )

inline

Definition at line 187 of file MsgConversion.h.

void rtabmap_ros::toCvCopy	(	const rtabmap_ros::RGBDImage &	image,
		cv_bridge::CvImagePtr &	rgb,
		cv_bridge::CvImagePtr &	depth
	)

Definition at line 134 of file MsgConversion.cpp.

void rtabmap_ros::toCvShare	(	const rtabmap_ros::RGBDImageConstPtr &	image,
		cv_bridge::CvImageConstPtr &	rgb,
		cv_bridge::CvImageConstPtr &	depth
	)

Definition at line 164 of file MsgConversion.cpp.

rtabmap::Transform rtabmap_ros::transformFromGeometryMsg

(

const geometry_msgs::Transform &

msg

)

Definition at line 89 of file MsgConversion.cpp.

rtabmap::Transform rtabmap_ros::transformFromPoseMsg	(	const geometry_msgs::Pose &	msg,
		bool	ignoreRotationIfNotSet = false
	)

Definition at line 116 of file MsgConversion.cpp.

rtabmap::Transform rtabmap_ros::transformFromTF

(

const tf::Transform &

transform

)

Definition at line 62 of file MsgConversion.cpp.

void rtabmap_ros::transformToGeometryMsg	(	const rtabmap::Transform &	transform,
		geometry_msgs::Transform &	msg
	)

Definition at line 69 of file MsgConversion.cpp.

void rtabmap_ros::transformToPoseMsg	(	const rtabmap::Transform &	transform,
		geometry_msgs::Pose &	msg
	)

Definition at line 104 of file MsgConversion.cpp.

void rtabmap_ros::transformToTF	(	const rtabmap::Transform &	transform,
		tf::Transform &	tfTransform
	)

Definition at line 50 of file MsgConversion.cpp.

cv::Mat rtabmap_ros::userDataFromROS

(

const rtabmap_ros::UserData &

dataMsg

)

Definition at line 1500 of file MsgConversion.cpp.

void rtabmap_ros::userDataToROS	(	const cv::Mat &	data,
		rtabmap_ros::UserData &	dataMsg,
		bool	compress
	)

Definition at line 1524 of file MsgConversion.cpp.