#include "rtabmap_ros/MsgConversion.h"#include <opencv2/highgui/highgui.hpp>#include <zlib.h>#include <ros/ros.h>#include <rtabmap/core/util3d.h>#include <rtabmap/core/util3d_transforms.h>#include <rtabmap/core/util3d_filtering.h>#include <rtabmap/core/Compression.h>#include <rtabmap/utilite/UStl.h>#include <rtabmap/utilite/ULogger.h>#include <rtabmap/utilite/UTimer.h>#include <pcl_conversions/pcl_conversions.h>#include <eigen_conversions/eigen_msg.h>#include <tf_conversions/tf_eigen.h>#include <image_geometry/pinhole_camera_model.h>#include <image_geometry/stereo_camera_model.h>#include <sensor_msgs/image_encodings.h>#include <sensor_msgs/point_cloud2_iterator.h>#include <laser_geometry/laser_geometry.h>#include <rtabmap/core/util3d_surface.h>
Include dependency graph for MsgConversion.cpp:
Go to the source code of this file.
Namespaces | |
| rtabmap_ros | |
Functions | |
| rtabmap::CameraModel | rtabmap_ros::cameraModelFromROS (const sensor_msgs::CameraInfo &camInfo, const rtabmap::Transform &localTransform=rtabmap::Transform::getIdentity()) |
| void | rtabmap_ros::cameraModelToROS (const rtabmap::CameraModel &model, sensor_msgs::CameraInfo &camInfo) |
| cv::Mat | rtabmap_ros::compressedMatFromBytes (const std::vector< unsigned char > &bytes, bool copy=true) |
| void | rtabmap_ros::compressedMatToBytes (const cv::Mat &compressed, std::vector< unsigned char > &bytes) |
| 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::vector< sensor_msgs::CameraInfo > &depthCameraInfoMsgs, const std::string &frameId, const std::string &odomFrameId, const ros::Time &odomStamp, cv::Mat &rgb, cv::Mat &depth, std::vector< rtabmap::CameraModel > &cameraModels, std::vector< rtabmap::StereoCameraModel > &stereoCameraModels, tf::TransformListener &listener, double waitForTransform, bool alreadRectifiedImages, 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 | 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, bool is2D=false) |
| 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) |
| 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) |
| bool | rtabmap_ros::deskew (const sensor_msgs::PointCloud2 &input, sensor_msgs::PointCloud2 &output, const std::string &fixedFrameId, tf::TransformListener &listener, double waitForTransform, bool slerp=false) |
| bool | rtabmap_ros::deskew (const sensor_msgs::PointCloud2 &input, sensor_msgs::PointCloud2 &output, double previousStamp, const rtabmap::Transform &velocity) |
| bool | rtabmap_ros::deskew_impl (const sensor_msgs::PointCloud2 &input, sensor_msgs::PointCloud2 &output, const std::string &fixedFrameId, tf::TransformListener *listener, double waitForTransform, bool slerp, const rtabmap::Transform &velocity, double previousStamp) |
| rtabmap::EnvSensor | rtabmap_ros::envSensorFromROS (const rtabmap_ros::EnvSensor &msg) |
| rtabmap::EnvSensors | rtabmap_ros::envSensorsFromROS (const std::vector< rtabmap_ros::EnvSensor > &msg) |
| void | rtabmap_ros::envSensorsToROS (const rtabmap::EnvSensors &sensors, std::vector< rtabmap_ros::EnvSensor > &msg) |
| void | rtabmap_ros::envSensorToROS (const rtabmap::EnvSensor &sensor, rtabmap_ros::EnvSensor &msg) |
| rtabmap::Transform | rtabmap_ros::getTransform (const std::string &fromFrameId, const std::string &toFrameId, const ros::Time &stamp, tf::TransformListener &listener, double waitForTransform) |
| 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) |
| rtabmap::GlobalDescriptor | rtabmap_ros::globalDescriptorFromROS (const rtabmap_ros::GlobalDescriptor &msg) |
| std::vector< rtabmap::GlobalDescriptor > | rtabmap_ros::globalDescriptorsFromROS (const std::vector< rtabmap_ros::GlobalDescriptor > &msg) |
| void | rtabmap_ros::globalDescriptorsToROS (const std::vector< rtabmap::GlobalDescriptor > &desc, std::vector< rtabmap_ros::GlobalDescriptor > &msg) |
| void | rtabmap_ros::globalDescriptorToROS (const rtabmap::GlobalDescriptor &desc, rtabmap_ros::GlobalDescriptor &msg) |
| void | rtabmap_ros::infoFromROS (const rtabmap_ros::Info &info, rtabmap::Statistics &stat) |
| void | rtabmap_ros::infoToROS (const rtabmap::Statistics &stats, rtabmap_ros::Info &info) |
| cv::KeyPoint | rtabmap_ros::keypointFromROS (const rtabmap_ros::KeyPoint &msg) |
| std::vector< cv::KeyPoint > | rtabmap_ros::keypointsFromROS (const std::vector< rtabmap_ros::KeyPoint > &msg) |
| void | rtabmap_ros::keypointsFromROS (const std::vector< rtabmap_ros::KeyPoint > &msg, std::vector< cv::KeyPoint > &kpts, int xShift=0) |
| void | rtabmap_ros::keypointsToROS (const std::vector< cv::KeyPoint > &kpts, std::vector< rtabmap_ros::KeyPoint > &msg) |
| void | rtabmap_ros::keypointToROS (const cv::KeyPoint &kpt, rtabmap_ros::KeyPoint &msg) |
| rtabmap::Landmarks | rtabmap_ros::landmarksFromROS (const std::map< int, std::pair< geometry_msgs::PoseWithCovarianceStamped, float > > &tags, const std::string &frameId, const std::string &odomFrameId, const ros::Time &odomStamp, tf::TransformListener &listener, double waitForTransform, double defaultLinVariance, double defaultAngVariance) |
| rtabmap::Link | rtabmap_ros::linkFromROS (const rtabmap_ros::Link &msg) |
| void | rtabmap_ros::linkToROS (const rtabmap::Link &link, rtabmap_ros::Link &msg) |
| 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) |
| 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) |
| void | rtabmap_ros::mapGraphFromROS (const rtabmap_ros::MapGraph &msg, std::map< int, rtabmap::Transform > &poses, std::multimap< int, rtabmap::Link > &links, rtabmap::Transform &mapToOdom) |
| 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) |
| rtabmap::Signature | rtabmap_ros::nodeDataFromROS (const rtabmap_ros::NodeData &msg) |
| void | rtabmap_ros::nodeDataToROS (const rtabmap::Signature &signature, rtabmap_ros::NodeData &msg) |
| rtabmap::Signature | rtabmap_ros::nodeInfoFromROS (const rtabmap_ros::NodeData &msg) |
| void | rtabmap_ros::nodeInfoToROS (const rtabmap::Signature &signature, rtabmap_ros::NodeData &msg) |
| rtabmap::OdometryInfo | rtabmap_ros::odomInfoFromROS (const rtabmap_ros::OdomInfo &msg, bool ignoreData=false) |
| void | rtabmap_ros::odomInfoToROS (const rtabmap::OdometryInfo &info, rtabmap_ros::OdomInfo &msg, bool ignoreData=false) |
| std::map< std::string, float > | rtabmap_ros::odomInfoToStatistics (const rtabmap::OdometryInfo &info) |
| cv::Point2f | rtabmap_ros::point2fFromROS (const rtabmap_ros::Point2f &msg) |
| void | rtabmap_ros::point2fToROS (const cv::Point2f &kpt, rtabmap_ros::Point2f &msg) |
| cv::Point3f | rtabmap_ros::point3fFromROS (const rtabmap_ros::Point3f &msg) |
| void | rtabmap_ros::point3fToROS (const cv::Point3f &pt, rtabmap_ros::Point3f &msg) |
| std::vector< cv::Point2f > | rtabmap_ros::points2fFromROS (const std::vector< rtabmap_ros::Point2f > &msg) |
| void | rtabmap_ros::points2fToROS (const std::vector< cv::Point2f > &kpts, std::vector< rtabmap_ros::Point2f > &msg) |
| std::vector< cv::Point3f > | rtabmap_ros::points3fFromROS (const std::vector< rtabmap_ros::Point3f > &msg, const rtabmap::Transform &transform=rtabmap::Transform()) |
| void | rtabmap_ros::points3fFromROS (const std::vector< rtabmap_ros::Point3f > &msg, std::vector< cv::Point3f > &points3, const rtabmap::Transform &transform=rtabmap::Transform()) |
| void | rtabmap_ros::points3fToROS (const std::vector< cv::Point3f > &pts, std::vector< rtabmap_ros::Point3f > &msg, const rtabmap::Transform &transform=rtabmap::Transform()) |
| rtabmap::SensorData | rtabmap_ros::rgbdImageFromROS (const rtabmap_ros::RGBDImageConstPtr &image) |
| void | rtabmap_ros::rgbdImageToROS (const rtabmap::SensorData &data, rtabmap_ros::RGBDImage &msg, const std::string &sensorFrameId) |
| 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()) |
| rtabmap::StereoCameraModel | rtabmap_ros::stereoCameraModelFromROS (const sensor_msgs::CameraInfo &leftCamInfo, const sensor_msgs::CameraInfo &rightCamInfo, const std::string &frameId, tf::TransformListener &listener, double waitForTransform) |
| void | rtabmap_ros::toCvCopy (const rtabmap_ros::RGBDImage &image, cv_bridge::CvImagePtr &rgb, cv_bridge::CvImagePtr &depth) |
| void | rtabmap_ros::toCvShare (const rtabmap_ros::RGBDImageConstPtr &image, cv_bridge::CvImageConstPtr &rgb, cv_bridge::CvImageConstPtr &depth) |
| void | rtabmap_ros::toCvShare (const rtabmap_ros::RGBDImage &image, const boost::shared_ptr< void const > &trackedObject, cv_bridge::CvImageConstPtr &rgb, cv_bridge::CvImageConstPtr &depth) |
| rtabmap::Transform | rtabmap_ros::transformFromGeometryMsg (const geometry_msgs::Transform &msg) |
| rtabmap::Transform | rtabmap_ros::transformFromPoseMsg (const geometry_msgs::Pose &msg, bool ignoreRotationIfNotSet=false) |
| rtabmap::Transform | rtabmap_ros::transformFromTF (const tf::Transform &transform) |
| void | rtabmap_ros::transformToGeometryMsg (const rtabmap::Transform &transform, geometry_msgs::Transform &msg) |
| void | rtabmap_ros::transformToPoseMsg (const rtabmap::Transform &transform, geometry_msgs::Pose &msg) |
| void | rtabmap_ros::transformToTF (const rtabmap::Transform &transform, tf::Transform &tfTransform) |
| cv::Mat | rtabmap_ros::userDataFromROS (const rtabmap_ros::UserData &dataMsg) |
| void | rtabmap_ros::userDataToROS (const cv::Mat &data, rtabmap_ros::UserData &dataMsg, bool compress) |