Namespaces | Classes | Functions
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  RGBDXSync
 
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::GlobalDescriptorglobalDescriptorsFromROS (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, 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 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, bool ignoreData=false)
 
void odomInfoToROS (const rtabmap::OdometryInfo &info, rtabmap_ros::OdomInfo &msg, bool ignoreData=false)
 
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::RGBDXSync, nodelet::Nodelet)
 
 PLUGINLIB_EXPORT_CLASS (rtabmap_ros::RGBDSync, nodelet::Nodelet)
 
 PLUGINLIB_EXPORT_CLASS (rtabmap_ros::ObstaclesDetectionOld, nodelet::Nodelet)
 
 PLUGINLIB_EXPORT_CLASS (rtabmap_ros::PointCloudAggregator, nodelet::Nodelet)
 
 PLUGINLIB_EXPORT_CLASS (rtabmap_ros::PointCloudXYZ, 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::PointCloudAssembler, nodelet::Nodelet)
 
 PLUGINLIB_EXPORT_CLASS (rtabmap_ros::ICPOdometry, nodelet::Nodelet)
 
 PLUGINLIB_EXPORT_CLASS (rtabmap_ros::RGBDOdometry, 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)
 
void toCvShare (const rtabmap_ros::RGBDImage &image, const boost::shared_ptr< void const > &trackedObject, 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

◆ cameraModelFromROS()

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

Definition at line 785 of file MsgConversion.cpp.

◆ cameraModelToROS()

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

Definition at line 859 of file MsgConversion.cpp.

◆ compressedMatFromBytes()

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

Definition at line 442 of file MsgConversion.cpp.

◆ compressedMatToBytes()

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

Definition at line 431 of file MsgConversion.cpp.

◆ convertRGBDMsgs()

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 1730 of file MsgConversion.cpp.

◆ convertScan3dMsg()

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 2224 of file MsgConversion.cpp.

◆ convertScanMsg()

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 2084 of file MsgConversion.cpp.

◆ convertStereoMsg()

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 1927 of file MsgConversion.cpp.

◆ envSensorFromROS()

rtabmap::EnvSensor rtabmap_ros::envSensorFromROS ( const rtabmap_ros::EnvSensor &  msg)

Definition at line 655 of file MsgConversion.cpp.

◆ envSensorsFromROS()

rtabmap::EnvSensors rtabmap_ros::envSensorsFromROS ( const std::vector< rtabmap_ros::EnvSensor > &  msg)

Definition at line 667 of file MsgConversion.cpp.

◆ envSensorsToROS()

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

Definition at line 681 of file MsgConversion.cpp.

◆ envSensorToROS()

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

Definition at line 660 of file MsgConversion.cpp.

◆ getTransform() [1/2]

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 1659 of file MsgConversion.cpp.

◆ getTransform() [2/2]

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 1695 of file MsgConversion.cpp.

◆ globalDescriptorFromROS()

rtabmap::GlobalDescriptor rtabmap_ros::globalDescriptorFromROS ( const rtabmap_ros::GlobalDescriptor &  msg)

Definition at line 616 of file MsgConversion.cpp.

◆ globalDescriptorsFromROS()

std::vector< rtabmap::GlobalDescriptor > rtabmap_ros::globalDescriptorsFromROS ( const std::vector< rtabmap_ros::GlobalDescriptor > &  msg)

Definition at line 628 of file MsgConversion.cpp.

◆ globalDescriptorsToROS()

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

Definition at line 642 of file MsgConversion.cpp.

◆ globalDescriptorToROS()

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

Definition at line 621 of file MsgConversion.cpp.

◆ infoFromROS()

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

Definition at line 456 of file MsgConversion.cpp.

◆ infoToROS()

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

Definition at line 517 of file MsgConversion.cpp.

◆ keypointFromROS()

cv::KeyPoint rtabmap_ros::keypointFromROS ( const rtabmap_ros::KeyPoint &  msg)

Definition at line 570 of file MsgConversion.cpp.

◆ keypointsFromROS() [1/2]

std::vector< cv::KeyPoint > rtabmap_ros::keypointsFromROS ( const std::vector< rtabmap_ros::KeyPoint > &  msg)

Definition at line 586 of file MsgConversion.cpp.

◆ keypointsFromROS() [2/2]

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

Definition at line 596 of file MsgConversion.cpp.

◆ keypointsToROS()

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

Definition at line 607 of file MsgConversion.cpp.

◆ keypointToROS()

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

Definition at line 575 of file MsgConversion.cpp.

◆ landmarksFromROS()

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 
)

Definition at line 1591 of file MsgConversion.cpp.

◆ linkFromROS()

rtabmap::Link rtabmap_ros::linkFromROS ( const rtabmap_ros::Link &  msg)

Definition at line 552 of file MsgConversion.cpp.

◆ linkToROS()

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

Definition at line 558 of file MsgConversion.cpp.

◆ mapDataFromROS()

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 967 of file MsgConversion.cpp.

◆ mapDataToROS()

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 983 of file MsgConversion.cpp.

◆ mapGraphFromROS()

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 1004 of file MsgConversion.cpp.

◆ mapGraphToROS()

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 1023 of file MsgConversion.cpp.

◆ nodeDataFromROS()

rtabmap::Signature rtabmap_ros::nodeDataFromROS ( const rtabmap_ros::NodeData &  msg)

Definition at line 1054 of file MsgConversion.cpp.

◆ nodeDataToROS()

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

Definition at line 1188 of file MsgConversion.cpp.

◆ nodeInfoFromROS()

rtabmap::Signature rtabmap_ros::nodeInfoFromROS ( const rtabmap_ros::NodeData &  msg)

Definition at line 1309 of file MsgConversion.cpp.

◆ nodeInfoToROS()

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

Definition at line 1321 of file MsgConversion.cpp.

◆ odomInfoFromROS()

rtabmap::OdometryInfo rtabmap_ros::odomInfoFromROS ( const rtabmap_ros::OdomInfo &  msg,
bool  ignoreData = false 
)

Definition at line 1422 of file MsgConversion.cpp.

◆ odomInfoToROS()

void rtabmap_ros::odomInfoToROS ( const rtabmap::OdometryInfo info,
rtabmap_ros::OdomInfo &  msg,
bool  ignoreData = false 
)

Definition at line 1487 of file MsgConversion.cpp.

◆ odomInfoToStatistics()

std::map< std::string, float > rtabmap_ros::odomInfoToStatistics ( const rtabmap::OdometryInfo info)

Definition at line 1333 of file MsgConversion.cpp.

◆ PLUGINLIB_EXPORT_CLASS() [1/23]

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

◆ PLUGINLIB_EXPORT_CLASS() [2/23]

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

◆ PLUGINLIB_EXPORT_CLASS() [3/23]

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

◆ PLUGINLIB_EXPORT_CLASS() [4/23]

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

◆ PLUGINLIB_EXPORT_CLASS() [5/23]

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

◆ PLUGINLIB_EXPORT_CLASS() [6/23]

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

◆ PLUGINLIB_EXPORT_CLASS() [7/23]

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

◆ PLUGINLIB_EXPORT_CLASS() [8/23]

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

◆ PLUGINLIB_EXPORT_CLASS() [9/23]

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

◆ PLUGINLIB_EXPORT_CLASS() [10/23]

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

◆ PLUGINLIB_EXPORT_CLASS() [11/23]

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

◆ PLUGINLIB_EXPORT_CLASS() [12/23]

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

◆ PLUGINLIB_EXPORT_CLASS() [13/23]

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

◆ PLUGINLIB_EXPORT_CLASS() [14/23]

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

◆ PLUGINLIB_EXPORT_CLASS() [15/23]

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

◆ PLUGINLIB_EXPORT_CLASS() [16/23]

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

◆ PLUGINLIB_EXPORT_CLASS() [17/23]

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

◆ PLUGINLIB_EXPORT_CLASS() [18/23]

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

◆ PLUGINLIB_EXPORT_CLASS() [19/23]

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

◆ PLUGINLIB_EXPORT_CLASS() [20/23]

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

◆ PLUGINLIB_EXPORT_CLASS() [21/23]

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

◆ PLUGINLIB_EXPORT_CLASS() [22/23]

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

◆ PLUGINLIB_EXPORT_CLASS() [23/23]

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

◆ point2fFromROS()

cv::Point2f rtabmap_ros::point2fFromROS ( const rtabmap_ros::Point2f &  msg)

Definition at line 695 of file MsgConversion.cpp.

◆ point2fToROS()

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

Definition at line 700 of file MsgConversion.cpp.

◆ point3fFromROS()

cv::Point3f rtabmap_ros::point3fFromROS ( const rtabmap_ros::Point3f &  msg)

Definition at line 725 of file MsgConversion.cpp.

◆ point3fToROS()

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

Definition at line 730 of file MsgConversion.cpp.

◆ points2fFromROS()

std::vector< cv::Point2f > rtabmap_ros::points2fFromROS ( const std::vector< rtabmap_ros::Point2f > &  msg)

Definition at line 706 of file MsgConversion.cpp.

◆ points2fToROS()

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

Definition at line 716 of file MsgConversion.cpp.

◆ points3fFromROS() [1/2]

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

Definition at line 737 of file MsgConversion.cpp.

◆ points3fFromROS() [2/2]

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 752 of file MsgConversion.cpp.

◆ points3fToROS()

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 767 of file MsgConversion.cpp.

◆ rgbdImageFromROS()

rtabmap::SensorData rtabmap_ros::rgbdImageFromROS ( const rtabmap_ros::RGBDImageConstPtr &  image)

Definition at line 286 of file MsgConversion.cpp.

◆ rgbdImageToROS()

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

Definition at line 210 of file MsgConversion.cpp.

◆ stereoCameraModelFromROS() [1/2]

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 924 of file MsgConversion.cpp.

◆ stereoCameraModelFromROS() [2/2]

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 936 of file MsgConversion.cpp.

◆ timestampFromROS()

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

Definition at line 188 of file MsgConversion.h.

◆ toCvCopy()

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.

◆ toCvShare() [1/2]

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.

◆ toCvShare() [2/2]

void rtabmap_ros::toCvShare ( const rtabmap_ros::RGBDImage &  image,
const boost::shared_ptr< void const > &  trackedObject,
cv_bridge::CvImageConstPtr rgb,
cv_bridge::CvImageConstPtr depth 
)

Definition at line 169 of file MsgConversion.cpp.

◆ transformFromGeometryMsg()

rtabmap::Transform rtabmap_ros::transformFromGeometryMsg ( const geometry_msgs::Transform &  msg)

Definition at line 89 of file MsgConversion.cpp.

◆ transformFromPoseMsg()

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

Definition at line 116 of file MsgConversion.cpp.

◆ transformFromTF()

rtabmap::Transform rtabmap_ros::transformFromTF ( const tf::Transform transform)

Definition at line 62 of file MsgConversion.cpp.

◆ transformToGeometryMsg()

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

Definition at line 69 of file MsgConversion.cpp.

◆ transformToPoseMsg()

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

Definition at line 104 of file MsgConversion.cpp.

◆ transformToTF()

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

Definition at line 50 of file MsgConversion.cpp.

◆ userDataFromROS()

cv::Mat rtabmap_ros::userDataFromROS ( const rtabmap_ros::UserData &  dataMsg)

Definition at line 1545 of file MsgConversion.cpp.

◆ userDataToROS()

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

Definition at line 1569 of file MsgConversion.cpp.



rtabmap_ros
Author(s): Mathieu Labbe
autogenerated on Sun Oct 3 2021 03:03:39