ccny_rgbd: util.cpp File Reference

#include "ccny_rgbd/util.h"

Include dependency graph for util.cpp:

Namespaces
namespace	ccny_rgbd
Functions
void	ccny_rgbd::convertCameraInfoToMats (const CameraInfoMsg::ConstPtr camera_info_msg, cv::Mat &intr, cv::Mat &dist)
	Create OpenCV matrices from a CameraInfoMsg.
void	ccny_rgbd::convertMatToCameraInfo (const cv::Mat &intr, CameraInfoMsg &camera_info_msg)
	Create CameraInfoMsg from OpenCV matrices (assumes no distortion)
void	ccny_rgbd::createRGBDFrameFromROSMessages (const ImageMsg::ConstPtr &rgb_msg, const ImageMsg::ConstPtr &depth_msg, const CameraInfoMsg::ConstPtr &info_msg, rgbdtools::RGBDFrame &frame)
AffineTransform	ccny_rgbd::eigenAffineFromTf (const tf::Transform &tf)
Eigen::Matrix4f	ccny_rgbd::eigenFromTf (const tf::Transform &tf)
	Converts an tf::Transform transform to an Eigen transform.
int	ccny_rgbd::getmaxheight (PathMsg path_msg)
int	ccny_rgbd::getminheight (PathMsg path_msg)
double	ccny_rgbd::getMsDuration (const ros::WallTime &start)
	Returns the duration, in ms, from a given time.
void	ccny_rgbd::getTfDifference (const tf::Transform &motion, double &dist, double &angle)
	Given a transform, calculates the linear and angular distance between it and identity.
void	ccny_rgbd::getTfDifference (const tf::Transform &a, const tf::Transform b, double &dist, double &angle)
	Given two transformss, calculates the linear and angular distance between them, or the linear and angular components of a.inv() * b.
void	ccny_rgbd::openCVRtToTf (const cv::Mat &R, const cv::Mat &t, tf::Transform &transform)
	Creates a tf transform from a 3x3 OpenCV rotation matrix and a 3x1 OpenCV translation vector.
void	ccny_rgbd::pathEigenAffineToROS (const AffineTransformVector &path, PathMsg &path_msg)
	Copies over the poses from a Eigen vector to a ROS message. Assumes the message is already correctly resized, and preserves the headers of each pose in the message.
void	ccny_rgbd::pathROSToEigenAffine (const PathMsg &path_msg, AffineTransformVector &path)
	copies over the poses from a ROS message Eigen vector. The eigen vector will be cleared and resized appropriately.
void	ccny_rgbd::removeInvalidDistributions (const Vector3fVector &means, const Matrix3fVector &covariances, const BoolVector &valid, Vector3fVector &means_f, Matrix3fVector &covariances_f)
void	ccny_rgbd::removeInvalidMeans (const Vector3fVector &means, const BoolVector &valid, Vector3fVector &means_f)
tf::Transform	ccny_rgbd::tfFromEigen (Eigen::Matrix4f trans)
	Converts an Eigen transform to a tf::Transform.
tf::Transform	ccny_rgbd::tfFromEigenAffine (const AffineTransform &trans)
bool	ccny_rgbd::tfGreaterThan (const tf::Transform &a, double dist, double angle)
	Given a transfom (possibly computed as a difference between two transforms) checks if either its angular or linar component exceeds a threshold.
void	ccny_rgbd::tfToEigenRt (const tf::Transform &tf, Matrix3f &R, Vector3f &t)
	Decomposes a tf into an Eigen 3x3 rotation matrix and Eigen 3x1 rotation vector.
void	ccny_rgbd::tfToOpenCVRt (const tf::Transform &transform, cv::Mat &R, cv::Mat &t)
	Decomposes a tf::Transform into a 3x3 OpenCV rotation matrix and a 3x1 OpenCV translation vector.
void	ccny_rgbd::tfToXYZRPY (const tf::Transform &t, double &x, double &y, double &z, double &roll, double &pitch, double &yaw)
	Decomposes a tf::Transform into x, y, z, roll, pitch, yaw.

Namespaces

Functions