utils.h File Reference

#include <cmath>
#include <ros/ros.h>
#include <tf/transform_datatypes.h>
#include <geometry_msgs/Quaternion.h>
#include <geometry_msgs/Pose.h>
#include <geometry_msgs/Vector3.h>
#include <sensor_msgs/CameraInfo.h>
#include <opencv2/opencv.hpp>

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Functions
void	fillPose (geometry_msgs::Pose &pose, const cv::Vec3d &rvec, const cv::Vec3d &tvec)
void	fillTransform (geometry_msgs::Transform &transform, const cv::Vec3d &rvec, const cv::Vec3d &tvec)
void	fillTranslation (geometry_msgs::Vector3 &translation, const cv::Vec3d &tvec)
bool	isFlipped (tf::Quaternion &q)
template<typename T >
static void	param (ros::NodeHandle nh, const std::string &param_name, T &param_val)
static void	parseCameraInfo (const sensor_msgs::CameraInfoConstPtr &cinfo, cv::Mat &matrix, cv::Mat &dist)
void	rotatePoint (cv::Point3f &p, cv::Point3f origin, float angle)
void	snapOrientation (geometry_msgs::Quaternion &to, const geometry_msgs::Quaternion &from, bool auto_flip=false)
void	transformToPose (const geometry_msgs::Transform &transform, geometry_msgs::Pose &pose)

Function Documentation

fillPose()

void fillPose ( geometry_msgs::Pose &  pose, const cv::Vec3d &  rvec, const cv::Vec3d &  tvec  )

inline

Definition at line 59 of file utils.h.

fillTransform()

void fillTransform ( geometry_msgs::Transform &  transform, const cv::Vec3d &  rvec, const cv::Vec3d &  tvec  )

inline

Definition at line 77 of file utils.h.

fillTranslation()

void fillTranslation ( geometry_msgs::Vector3 &  translation, const cv::Vec3d &  tvec  )

inline

Definition at line 95 of file utils.h.

isFlipped()

bool isFlipped ( tf::Quaternion &  q )

inline

Definition at line 102 of file utils.h.

param()

template<typename T >

static void param ( ros::NodeHandle  nh, const std::string &  param_name, T &  param_val  )

static

Definition at line 25 of file utils.h.

parseCameraInfo()

static void parseCameraInfo ( const sensor_msgs::CameraInfoConstPtr &  cinfo, cv::Mat &  matrix, cv::Mat &  dist  )

static

Definition at line 33 of file utils.h.

rotatePoint()

void rotatePoint ( cv::Point3f &  p, cv::Point3f  origin, float  angle  )

inline

Definition at line 41 of file utils.h.

snapOrientation()

void snapOrientation ( geometry_msgs::Quaternion &  to, const geometry_msgs::Quaternion &  from, bool  auto_flip = false  )

inline

Definition at line 110 of file utils.h.

transformToPose()

void transformToPose ( const geometry_msgs::Transform &  transform, geometry_msgs::Pose &  pose  )

inline

Definition at line 131 of file utils.h.