Classes | Functions
rtabmap_ros Namespace Reference

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  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)
 
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)
 
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 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::CoreWrapper, nodelet::Nodelet)
 
 PLUGINLIB_EXPORT_CLASS (rtabmap_ros::DataOdomSyncNodelet, nodelet::Nodelet)
 
 PLUGINLIB_EXPORT_CLASS (rtabmap_ros::DataThrottleNodelet, nodelet::Nodelet)
 
 PLUGINLIB_EXPORT_CLASS (rtabmap_ros::DisparityToDepth, nodelet::Nodelet)
 
 PLUGINLIB_EXPORT_CLASS (rtabmap_ros::ICPOdometry, nodelet::Nodelet)
 
 PLUGINLIB_EXPORT_CLASS (rtabmap_ros::ImuToTF, nodelet::Nodelet)
 
 PLUGINLIB_EXPORT_CLASS (rtabmap_ros::ObstaclesDetection, nodelet::Nodelet)
 
 PLUGINLIB_EXPORT_CLASS (rtabmap_ros::ObstaclesDetectionOld, nodelet::Nodelet)
 
 PLUGINLIB_EXPORT_CLASS (rtabmap_ros::PointCloudAggregator, nodelet::Nodelet)
 
 PLUGINLIB_EXPORT_CLASS (rtabmap_ros::PointCloudAssembler, nodelet::Nodelet)
 
 PLUGINLIB_EXPORT_CLASS (rtabmap_ros::PointCloudToDepthImage, nodelet::Nodelet)
 
 PLUGINLIB_EXPORT_CLASS (rtabmap_ros::PointCloudXYZ, nodelet::Nodelet)
 
 PLUGINLIB_EXPORT_CLASS (rtabmap_ros::PointCloudXYZRGB, nodelet::Nodelet)
 
 PLUGINLIB_EXPORT_CLASS (rtabmap_ros::RGBDICPOdometry, nodelet::Nodelet)
 
 PLUGINLIB_EXPORT_CLASS (rtabmap_ros::RGBDOdometry, nodelet::Nodelet)
 
 PLUGINLIB_EXPORT_CLASS (rtabmap_ros::RGBDRelay, nodelet::Nodelet)
 
 PLUGINLIB_EXPORT_CLASS (rtabmap_ros::RGBDSync, nodelet::Nodelet)
 
 PLUGINLIB_EXPORT_CLASS (rtabmap_ros::StereoOdometry, nodelet::Nodelet)
 
 PLUGINLIB_EXPORT_CLASS (rtabmap_ros::StereoSync, nodelet::Nodelet)
 
 PLUGINLIB_EXPORT_CLASS (rtabmap_ros::StereoThrottleNodelet, nodelet::Nodelet)
 
 PLUGINLIB_EXPORT_CLASS (rtabmap_ros::UndistortDepth, 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)
 
void points3fToROS (const std::vector< cv::Point3f > &pts, std::vector< rtabmap_ros::Point3f > &msg)
 
rtabmap::SensorData rgbdImageFromROS (const rtabmap_ros::RGBDImageConstPtr &image)
 
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

◆ cameraModelFromROS()

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

Definition at line 630 of file MsgConversion.cpp.

◆ cameraModelToROS()

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

Definition at line 684 of file MsgConversion.cpp.

◆ compressedMatFromBytes()

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

Definition at line 368 of file MsgConversion.cpp.

◆ compressedMatToBytes()

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

Definition at line 357 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 
)

Definition at line 1551 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 1947 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 1807 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 
)

Definition at line 1716 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 1480 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 1516 of file MsgConversion.cpp.

◆ globalDescriptorFromROS()

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

Definition at line 530 of file MsgConversion.cpp.

◆ globalDescriptorsFromROS()

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

Definition at line 542 of file MsgConversion.cpp.

◆ globalDescriptorsToROS()

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

Definition at line 556 of file MsgConversion.cpp.

◆ globalDescriptorToROS()

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

Definition at line 535 of file MsgConversion.cpp.

◆ infoFromROS()

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

Definition at line 382 of file MsgConversion.cpp.

◆ infoToROS()

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

Definition at line 443 of file MsgConversion.cpp.

◆ keypointFromROS()

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

Definition at line 495 of file MsgConversion.cpp.

◆ keypointsFromROS()

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

Definition at line 511 of file MsgConversion.cpp.

◆ keypointsToROS()

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

Definition at line 521 of file MsgConversion.cpp.

◆ keypointToROS()

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

Definition at line 500 of file MsgConversion.cpp.

◆ landmarksFromROS()

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 1412 of file MsgConversion.cpp.

◆ linkFromROS()

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

Definition at line 477 of file MsgConversion.cpp.

◆ linkToROS()

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

Definition at line 483 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 792 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 808 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 829 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 848 of file MsgConversion.cpp.

◆ nodeDataFromROS()

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

Definition at line 879 of file MsgConversion.cpp.

◆ nodeDataToROS()

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

Definition at line 1006 of file MsgConversion.cpp.

◆ nodeInfoFromROS()

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

Definition at line 1137 of file MsgConversion.cpp.

◆ nodeInfoToROS()

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

Definition at line 1149 of file MsgConversion.cpp.

◆ odomInfoFromROS()

rtabmap::OdometryInfo rtabmap_ros::odomInfoFromROS ( const rtabmap_ros::OdomInfo &  msg)

Definition at line 1250 of file MsgConversion.cpp.

◆ odomInfoToROS()

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

Definition at line 1311 of file MsgConversion.cpp.

◆ odomInfoToStatistics()

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

Definition at line 1161 of file MsgConversion.cpp.

◆ PLUGINLIB_EXPORT_CLASS() [1/21]

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

◆ PLUGINLIB_EXPORT_CLASS() [2/21]

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

◆ PLUGINLIB_EXPORT_CLASS() [3/21]

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

◆ PLUGINLIB_EXPORT_CLASS() [4/21]

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

◆ PLUGINLIB_EXPORT_CLASS() [5/21]

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

◆ PLUGINLIB_EXPORT_CLASS() [6/21]

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

◆ PLUGINLIB_EXPORT_CLASS() [7/21]

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

◆ PLUGINLIB_EXPORT_CLASS() [8/21]

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

◆ PLUGINLIB_EXPORT_CLASS() [9/21]

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

◆ PLUGINLIB_EXPORT_CLASS() [10/21]

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

◆ PLUGINLIB_EXPORT_CLASS() [11/21]

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

◆ PLUGINLIB_EXPORT_CLASS() [12/21]

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

◆ PLUGINLIB_EXPORT_CLASS() [13/21]

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

◆ PLUGINLIB_EXPORT_CLASS() [14/21]

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

◆ PLUGINLIB_EXPORT_CLASS() [15/21]

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

◆ PLUGINLIB_EXPORT_CLASS() [16/21]

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

◆ PLUGINLIB_EXPORT_CLASS() [17/21]

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

◆ PLUGINLIB_EXPORT_CLASS() [18/21]

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

◆ PLUGINLIB_EXPORT_CLASS() [19/21]

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

◆ PLUGINLIB_EXPORT_CLASS() [20/21]

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

◆ PLUGINLIB_EXPORT_CLASS() [21/21]

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

◆ point2fFromROS()

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

Definition at line 569 of file MsgConversion.cpp.

◆ point2fToROS()

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

Definition at line 574 of file MsgConversion.cpp.

◆ point3fFromROS()

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

Definition at line 599 of file MsgConversion.cpp.

◆ point3fToROS()

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

Definition at line 604 of file MsgConversion.cpp.

◆ points2fFromROS()

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

Definition at line 580 of file MsgConversion.cpp.

◆ points2fToROS()

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

Definition at line 590 of file MsgConversion.cpp.

◆ points3fFromROS()

std::vector< cv::Point3f > rtabmap_ros::points3fFromROS ( const std::vector< rtabmap_ros::Point3f > &  msg)

Definition at line 611 of file MsgConversion.cpp.

◆ points3fToROS()

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

Definition at line 621 of file MsgConversion.cpp.

◆ rgbdImageFromROS()

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

Definition at line 225 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 749 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 761 of file MsgConversion.cpp.

◆ timestampFromROS()

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

Definition at line 179 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()

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

Definition at line 174 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 1366 of file MsgConversion.cpp.

◆ userDataToROS()

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

Definition at line 1390 of file MsgConversion.cpp.



rtabmap_ros
Author(s): Mathieu Labbe
autogenerated on Thu Jun 4 2020 03:31:52