#include "rtabmap_ros/MsgConversion.h"#include <opencv2/highgui/highgui.hpp>#include <zlib.h>#include <ros/ros.h>#include <rtabmap/core/util3d.h>#include <rtabmap/core/util3d_transforms.h>#include <rtabmap/core/util3d_filtering.h>#include <rtabmap/core/Compression.h>#include <rtabmap/utilite/UStl.h>#include <rtabmap/utilite/ULogger.h>#include <pcl_conversions/pcl_conversions.h>#include <eigen_conversions/eigen_msg.h>#include <tf_conversions/tf_eigen.h>#include <image_geometry/pinhole_camera_model.h>#include <image_geometry/stereo_camera_model.h>#include <sensor_msgs/image_encodings.h>#include <laser_geometry/laser_geometry.h>#include <rtabmap/core/util3d_surface.h>
Include dependency graph for MsgConversion.cpp:
Go to the source code of this file.
Namespaces | |
| rtabmap_ros | |
Functions | |
| rtabmap::CameraModel | rtabmap_ros::cameraModelFromROS (const sensor_msgs::CameraInfo &camInfo, const rtabmap::Transform &localTransform=rtabmap::Transform::getIdentity()) |
| void | rtabmap_ros::cameraModelToROS (const rtabmap::CameraModel &model, sensor_msgs::CameraInfo &camInfo) |
| cv::Mat | rtabmap_ros::compressedMatFromBytes (const std::vector< unsigned char > &bytes, bool copy=true) |
| void | rtabmap_ros::compressedMatToBytes (const cv::Mat &compressed, std::vector< unsigned char > &bytes) |
| 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) |
| bool | rtabmap_ros::convertScan3dMsg (const sensor_msgs::PointCloud2ConstPtr &scan3dMsg, const std::string &frameId, const std::string &odomFrameId, const ros::Time &odomStamp, cv::Mat &scan, rtabmap::Transform &scanLocalTransform, tf::TransformListener &listener, double waitForTransform) |
| bool | rtabmap_ros::convertScanMsg (const sensor_msgs::LaserScanConstPtr &scan2dMsg, const std::string &frameId, const std::string &odomFrameId, const ros::Time &odomStamp, cv::Mat &scan, rtabmap::Transform &scanLocalTransform, tf::TransformListener &listener, double waitForTransform) |
| 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) |
| rtabmap::Transform | rtabmap_ros::getTransform (const std::string &fromFrameId, const std::string &toFrameId, const ros::Time &stamp, tf::TransformListener &listener, double waitForTransform) |
| 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) |
| void | rtabmap_ros::infoFromROS (const rtabmap_ros::Info &info, rtabmap::Statistics &stat) |
| void | rtabmap_ros::infoToROS (const rtabmap::Statistics &stats, rtabmap_ros::Info &info) |
| cv::KeyPoint | rtabmap_ros::keypointFromROS (const rtabmap_ros::KeyPoint &msg) |
| std::vector< cv::KeyPoint > | rtabmap_ros::keypointsFromROS (const std::vector< rtabmap_ros::KeyPoint > &msg) |
| void | rtabmap_ros::keypointsToROS (const std::vector< cv::KeyPoint > &kpts, std::vector< rtabmap_ros::KeyPoint > &msg) |
| void | rtabmap_ros::keypointToROS (const cv::KeyPoint &kpt, rtabmap_ros::KeyPoint &msg) |
| rtabmap::Link | rtabmap_ros::linkFromROS (const rtabmap_ros::Link &msg) |
| void | rtabmap_ros::linkToROS (const rtabmap::Link &link, rtabmap_ros::Link &msg) |
| 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) |
| 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) |
| void | rtabmap_ros::mapGraphFromROS (const rtabmap_ros::MapGraph &msg, std::map< int, rtabmap::Transform > &poses, std::multimap< int, rtabmap::Link > &links, rtabmap::Transform &mapToOdom) |
| 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) |
| rtabmap::Signature | rtabmap_ros::nodeDataFromROS (const rtabmap_ros::NodeData &msg) |
| void | rtabmap_ros::nodeDataToROS (const rtabmap::Signature &signature, rtabmap_ros::NodeData &msg) |
| rtabmap::Signature | rtabmap_ros::nodeInfoFromROS (const rtabmap_ros::NodeData &msg) |
| void | rtabmap_ros::nodeInfoToROS (const rtabmap::Signature &signature, rtabmap_ros::NodeData &msg) |
| rtabmap::OdometryInfo | rtabmap_ros::odomInfoFromROS (const rtabmap_ros::OdomInfo &msg) |
| void | rtabmap_ros::odomInfoToROS (const rtabmap::OdometryInfo &info, rtabmap_ros::OdomInfo &msg) |
| cv::Point2f | rtabmap_ros::point2fFromROS (const rtabmap_ros::Point2f &msg) |
| void | rtabmap_ros::point2fToROS (const cv::Point2f &kpt, rtabmap_ros::Point2f &msg) |
| cv::Point3f | rtabmap_ros::point3fFromROS (const rtabmap_ros::Point3f &msg) |
| void | rtabmap_ros::point3fToROS (const cv::Point3f &kpt, rtabmap_ros::Point3f &msg) |
| std::vector< cv::Point2f > | rtabmap_ros::points2fFromROS (const std::vector< rtabmap_ros::Point2f > &msg) |
| void | rtabmap_ros::points2fToROS (const std::vector< cv::Point2f > &kpts, std::vector< rtabmap_ros::Point2f > &msg) |
| std::vector< cv::Point3f > | rtabmap_ros::points3fFromROS (const std::vector< rtabmap_ros::Point3f > &msg) |
| void | rtabmap_ros::points3fToROS (const std::vector< cv::Point3f > &kpts, std::vector< rtabmap_ros::Point3f > &msg) |
| rtabmap::SensorData | rtabmap_ros::rgbdImageFromROS (const rtabmap_ros::RGBDImageConstPtr &image) |
| rtabmap::StereoCameraModel | rtabmap_ros::stereoCameraModelFromROS (const sensor_msgs::CameraInfo &leftCamInfo, const sensor_msgs::CameraInfo &rightCamInfo, const rtabmap::Transform &localTransform=rtabmap::Transform::getIdentity()) |
| void | rtabmap_ros::toCvCopy (const rtabmap_ros::RGBDImage &image, cv_bridge::CvImagePtr &rgb, cv_bridge::CvImagePtr &depth) |
| void | rtabmap_ros::toCvShare (const rtabmap_ros::RGBDImageConstPtr &image, cv_bridge::CvImageConstPtr &rgb, cv_bridge::CvImageConstPtr &depth) |
| rtabmap::Transform | rtabmap_ros::transformFromGeometryMsg (const geometry_msgs::Transform &msg) |
| rtabmap::Transform | rtabmap_ros::transformFromPoseMsg (const geometry_msgs::Pose &msg) |
| rtabmap::Transform | rtabmap_ros::transformFromTF (const tf::Transform &transform) |
| void | rtabmap_ros::transformToGeometryMsg (const rtabmap::Transform &transform, geometry_msgs::Transform &msg) |
| void | rtabmap_ros::transformToPoseMsg (const rtabmap::Transform &transform, geometry_msgs::Pose &msg) |
| void | rtabmap_ros::transformToTF (const rtabmap::Transform &transform, tf::Transform &tfTransform) |
| cv::Mat | rtabmap_ros::userDataFromROS (const rtabmap_ros::UserData &dataMsg) |
| void | rtabmap_ros::userDataToROS (const cv::Mat &data, rtabmap_ros::UserData &dataMsg, bool compress) |