tools::Tools Class Reference

#include <tools.h>

List of all members.

Classes
struct	FilterParams
Public Types
typedef pcl::PointXYZRGB	Point
typedef pcl::PointCloud< Point >	PointCloud
Static Public Member Functions
static void	filterPointCloud (PointCloud::Ptr cloud, tools::Tools::FilterParams params)
	Filter some pointcloud.
static bool	getCameraModel (sensor_msgs::CameraInfo l_info_msg, sensor_msgs::CameraInfo r_info_msg, image_geometry::StereoCameraModel &stereo_camera_model, Mat &camera_matrix)
	Get the stereo camera model from info messages.
static tf::Transform	getVertexPose (slam::Vertex *v)
	get the pose of vertex in format tf::Transform
static bool	imgMsgToMat (sensor_msgs::Image l_img_msg, sensor_msgs::Image r_img_msg, Mat &l_img, Mat &r_img)
	Convert image messages to cv Mat.
static string	isometryToString (Eigen::Isometry3d m)
	Convert isometry to string (useful for debugin purposes)
static tf::Transform	isometryToTf (Eigen::Isometry3d in)
	convert a Eigen::Isometry3d to tf::transform
static tf::Transform	matrix4fToTf (Eigen::Matrix4f in)
	convert a Eigen::Matrix4f to tf::transform
static tf::Transform	odomTotf (nav_msgs::Odometry odom_msg)
	Convert odometry message to tf::Transform.
static double	poseDiff (tf::Transform pose_1, tf::Transform pose_2)
	compute the absolute diference between 2 poses
static void	showTf (tf::Transform input)
	Show a tf in the console (useful for debugin purposes)
static bool	sortByDistance (const pair< int, double > d1, const pair< int, double > d2)
	Sort 2 pairs by size.
static Eigen::Isometry3d	tfToIsometry (tf::Transform in)
	convert a tf::transform to Eigen::Isometry3d
static Eigen::Matrix4f	tfToMatrix4f (tf::Transform in)
	convert a tf::transform to Eigen::Matrix4f

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Detailed Description

Definition at line 23 of file tools.h.

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Member Typedef Documentation

typedef pcl::PointXYZRGB tools::Tools::Point

Definition at line 28 of file tools.h.

typedef pcl::PointCloud<Point> tools::Tools::PointCloud

Definition at line 29 of file tools.h.

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Member Function Documentation

static void tools::Tools::filterPointCloud	(	PointCloud::Ptr	cloud,
		tools::Tools::FilterParams	params
	)		[inline, static]

Filter some pointcloud.

Returns:

Parameters:

the	input pointcloud (will be overwritten)

Definition at line 289 of file tools.h.

static bool tools::Tools::getCameraModel	(	sensor_msgs::CameraInfo	l_info_msg,
		sensor_msgs::CameraInfo	r_info_msg,
		image_geometry::StereoCameraModel &	stereo_camera_model,
		Mat &	camera_matrix
	)		[inline, static]

Get the stereo camera model from info messages.

Parameters:

left	image info message.
right	image info message.
will	contain the output camera model.
will	contain the output camera matrix.

Definition at line 197 of file tools.h.

static tf::Transform tools::Tools::getVertexPose

(

slam::Vertex *

v

)

[inline, static]

get the pose of vertex in format tf::Transform

Returns:

tf::Transform pose matrix

Parameters:

vertex

of type Vertex

Definition at line 225 of file tools.h.

static bool tools::Tools::imgMsgToMat	(	sensor_msgs::Image	l_img_msg,
		sensor_msgs::Image	r_img_msg,
		Mat &	l_img,
		Mat &	r_img
	)		[inline, static]

Convert image messages to cv Mat.

Parameters:

left	image message.
right	image message.
will	contain the output left cv::Mat.
will	contain the output right cv::Mat.

Definition at line 173 of file tools.h.

static string tools::Tools::isometryToString

(

Eigen::Isometry3d

m

)

[inline, static]

Convert isometry to string (useful for debugin purposes)

Returns:

string containing the isometry

Parameters:

isometry

matrix

Definition at line 257 of file tools.h.

static tf::Transform tools::Tools::isometryToTf

(

Eigen::Isometry3d

in

)

[inline, static]

convert a Eigen::Isometry3d to tf::transform

Returns:

tf::transform matrix

Parameters:

in	of type Eigen::Isometry3d

Definition at line 104 of file tools.h.

static tf::Transform tools::Tools::matrix4fToTf

(

Eigen::Matrix4f

in

)

[inline, static]

convert a Eigen::Matrix4f to tf::transform

Returns:

tf::transform matrix

Parameters:

in	of type Eigen::Matrix4f

Definition at line 118 of file tools.h.

static tf::Transform tools::Tools::odomTotf

(

nav_msgs::Odometry

odom_msg

)

[inline, static]

Convert odometry message to tf::Transform.

Returns:

the trasnformation matrix

Parameters:

rvec	cv matrix with the rotation angles
tvec	cv matrix with the transformation x y z

Definition at line 139 of file tools.h.

static double tools::Tools::poseDiff	(	tf::Transform	pose_1,
		tf::Transform	pose_2
	)		[inline, static]

compute the absolute diference between 2 poses

Returns:

the norm between two poses

Parameters:

pose_1	transformation matrix of pose 1
pose_2	transformation matrix of pose 2

Definition at line 237 of file tools.h.

static void tools::Tools::showTf

(

tf::Transform

input

)

[inline, static]

Show a tf in the console (useful for debugin purposes)

Returns:

Parameters:

tf

matrix

Definition at line 273 of file tools.h.

static bool tools::Tools::sortByDistance	(	const pair< int, double >	d1,
		const pair< int, double >	d2
	)		[inline, static]

Sort 2 pairs by size.

Returns:

true if pair 1 is smaller than pair 2

Parameters:

pair	1
pair	2

Definition at line 248 of file tools.h.

static Eigen::Isometry3d tools::Tools::tfToIsometry

(

tf::Transform

in

)

[inline, static]

convert a tf::transform to Eigen::Isometry3d

Returns:

Eigen::Isometry3d matrix

Parameters:

in	of type tf::transform

Definition at line 62 of file tools.h.

static Eigen::Matrix4f tools::Tools::tfToMatrix4f

(

tf::Transform

in

)

[inline, static]

convert a tf::transform to Eigen::Matrix4f

Returns:

Eigen::Matrix4f matrix

Parameters:

in	of type tf::transform

Definition at line 82 of file tools.h.

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The documentation for this class was generated from the following file:

• tools.h