Function rtabmap_conversions::convertRGBDMsgs

• Defined in File MsgConversion.h

Function Documentation

bool rtabmap_conversions::convertRGBDMsgs(const std::vector<cv_bridge::CvImageConstPtr> &imageMsgs, const std::vector<cv_bridge::CvImageConstPtr> &depthMsgs, const std::vector<sensor_msgs::msg::CameraInfo> &cameraInfoMsgs, const std::vector<sensor_msgs::msg::CameraInfo> &depthCameraInfoMsgs, const std::string &frameId, const std::string &odomFrameId, const rclcpp::Time &odomStamp, cv::Mat &rgb, cv::Mat &depth, std::vector<rtabmap::CameraModel> &cameraModels, std::vector<rtabmap::StereoCameraModel> &stereoCameraModels, tf2_ros::Buffer &tfBuffer, double waitForTransform, bool alreadRectifiedImages, const std::vector<std::vector<rtabmap_msgs::msg::KeyPoint>> &localKeyPointsMsgs = std::vector<std::vector<rtabmap_msgs::msg::KeyPoint>>(), const std::vector<std::vector<rtabmap_msgs::msg::Point3f>> &localPoints3dMsgs = std::vector<std::vector<rtabmap_msgs::msg::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)