rtabmap_conversions Namespace Reference

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::vector< sensor_msgs::CameraInfo > &depthCameraInfoMsgs, const std::string &frameId, const std::string &odomFrameId, const ros::Time &odomStamp, cv::Mat &rgb, cv::Mat &depth, std::vector< rtabmap::CameraModel > &cameraModels, std::vector< rtabmap::StereoCameraModel > &stereoCameraModels, tf::TransformListener &listener, double waitForTransform, bool alreadRectifiedImages, const std::vector< std::vector< rtabmap_msgs::KeyPoint > > &localKeyPointsMsgs=std::vector< std::vector< rtabmap_msgs::KeyPoint > >(), const std::vector< std::vector< rtabmap_msgs::Point3f > > &localPoints3dMsgs=std::vector< std::vector< rtabmap_msgs::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)
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 is2D=false)
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, bool alreadyRectified)
bool	deskew (const sensor_msgs::PointCloud2 &input, sensor_msgs::PointCloud2 &output, const std::string &fixedFrameId, tf::TransformListener &listener, double waitForTransform, bool slerp=false)
bool	deskew (const sensor_msgs::PointCloud2 &input, sensor_msgs::PointCloud2 &output, double previousStamp, const rtabmap::Transform &velocity)
bool	deskew_impl (const sensor_msgs::PointCloud2 &input, sensor_msgs::PointCloud2 &output, const std::string &fixedFrameId, tf::TransformListener *listener, double waitForTransform, bool slerp, const rtabmap::Transform &velocity, double previousStamp)
rtabmap::EnvSensor	envSensorFromROS (const rtabmap_msgs::EnvSensor &msg)
rtabmap::EnvSensors	envSensorsFromROS (const std::vector< rtabmap_msgs::EnvSensor > &msg)
void	envSensorsToROS (const rtabmap::EnvSensors &sensors, std::vector< rtabmap_msgs::EnvSensor > &msg)
void	envSensorToROS (const rtabmap::EnvSensor &sensor, rtabmap_msgs::EnvSensor &msg)
rtabmap::Transform	getMovingTransform (const std::string &movingFrame, const std::string &fixedFrame, const ros::Time &stampFrom, const ros::Time &stampTo, 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::GlobalDescriptor	globalDescriptorFromROS (const rtabmap_msgs::GlobalDescriptor &msg)
std::vector< rtabmap::GlobalDescriptor >	globalDescriptorsFromROS (const std::vector< rtabmap_msgs::GlobalDescriptor > &msg)
void	globalDescriptorsToROS (const std::vector< rtabmap::GlobalDescriptor > &desc, std::vector< rtabmap_msgs::GlobalDescriptor > &msg)
void	globalDescriptorToROS (const rtabmap::GlobalDescriptor &desc, rtabmap_msgs::GlobalDescriptor &msg)
rtabmap::IMU	imuFromROS (const sensor_msgs::Imu &msg, const rtabmap::Transform &localTransform=rtabmap::Transform::getIdentity())
void	imuToROS (const rtabmap::IMU &imu, sensor_msgs::Imu &msg)
void	infoFromROS (const rtabmap_msgs::Info &info, rtabmap::Statistics &stat)
void	infoToROS (const rtabmap::Statistics &stats, rtabmap_msgs::Info &info)
cv::KeyPoint	keypointFromROS (const rtabmap_msgs::KeyPoint &msg)
std::vector< cv::KeyPoint >	keypointsFromROS (const std::vector< rtabmap_msgs::KeyPoint > &msg)
void	keypointsFromROS (const std::vector< rtabmap_msgs::KeyPoint > &msg, std::vector< cv::KeyPoint > &kpts, int xShift=0)
void	keypointsToROS (const std::vector< cv::KeyPoint > &kpts, std::vector< rtabmap_msgs::KeyPoint > &msg)
void	keypointToROS (const cv::KeyPoint &kpt, rtabmap_msgs::KeyPoint &msg)
rtabmap::Landmarks	landmarksFromROS (const std::map< int, std::pair< geometry_msgs::PoseWithCovarianceStamped, float > > &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_msgs::Link &msg)
void	linkToROS (const rtabmap::Link &link, rtabmap_msgs::Link &msg)
void	mapDataFromROS (const rtabmap_msgs::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_msgs::MapData &msg)
void	mapGraphFromROS (const rtabmap_msgs::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_msgs::MapGraph &msg)
rtabmap::Signature	nodeDataFromROS (const rtabmap_msgs::Node &msg)
void	nodeDataToROS (const rtabmap::Signature &signature, rtabmap_msgs::Node &msg)
rtabmap::Signature	nodeFromROS (const rtabmap_msgs::Node &msg)
rtabmap::Signature	nodeInfoFromROS (const rtabmap_msgs::Node &msg)
void	nodeInfoToROS (const rtabmap::Signature &signature, rtabmap_msgs::Node &msg)
void	nodeToROS (const rtabmap::Signature &signature, rtabmap_msgs::Node &msg)
rtabmap::OdometryInfo	odomInfoFromROS (const rtabmap_msgs::OdomInfo &msg, bool ignoreData=false)
void	odomInfoToROS (const rtabmap::OdometryInfo &info, rtabmap_msgs::OdomInfo &msg, bool ignoreData=false)
std::map< std::string, float >	odomInfoToStatistics (const rtabmap::OdometryInfo &info)
cv::Point2f	point2fFromROS (const rtabmap_msgs::Point2f &msg)
void	point2fToROS (const cv::Point2f &kpt, rtabmap_msgs::Point2f &msg)
cv::Point3f	point3fFromROS (const rtabmap_msgs::Point3f &msg)
void	point3fToROS (const cv::Point3f &pt, rtabmap_msgs::Point3f &msg)
std::vector< cv::Point2f >	points2fFromROS (const std::vector< rtabmap_msgs::Point2f > &msg)
void	points2fToROS (const std::vector< cv::Point2f > &kpts, std::vector< rtabmap_msgs::Point2f > &msg)
std::vector< cv::Point3f >	points3fFromROS (const std::vector< rtabmap_msgs::Point3f > &msg, const rtabmap::Transform &transform=rtabmap::Transform())
void	points3fFromROS (const std::vector< rtabmap_msgs::Point3f > &msg, std::vector< cv::Point3f > &points3, const rtabmap::Transform &transform=rtabmap::Transform())
void	points3fToROS (const std::vector< cv::Point3f > &pts, std::vector< rtabmap_msgs::Point3f > &msg, const rtabmap::Transform &transform=rtabmap::Transform())
rtabmap::SensorData	rgbdImageFromROS (const rtabmap_msgs::RGBDImageConstPtr &image)
void	rgbdImageToROS (const rtabmap::SensorData &data, rtabmap_msgs::RGBDImage &msg, const std::string &sensorFrameId)
rtabmap::SensorData	sensorDataFromROS (const rtabmap_msgs::SensorData &msg)
void	sensorDataToROS (const rtabmap::SensorData &signature, rtabmap_msgs::SensorData &msg, const std::string &frameId="base_link", bool copyRawData=false)
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_msgs::RGBDImage &image, cv_bridge::CvImagePtr &rgb, cv_bridge::CvImagePtr &depth)
void	toCvShare (const rtabmap_msgs::RGBDImage &image, const boost::shared_ptr< void const > &trackedObject, cv_bridge::CvImageConstPtr &rgb, cv_bridge::CvImageConstPtr &depth)
void	toCvShare (const rtabmap_msgs::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_msgs::UserData &dataMsg)
void	userDataToROS (const cv::Mat &data, rtabmap_msgs::UserData &dataMsg, bool compress)

Function Documentation

cameraModelFromROS()

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

Definition at line 795 of file MsgConversion.cpp.

cameraModelToROS()

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

Definition at line 869 of file MsgConversion.cpp.

compressedMatFromBytes()

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

Definition at line 444 of file MsgConversion.cpp.

compressedMatToBytes()

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

Definition at line 433 of file MsgConversion.cpp.

convertRGBDMsgs()

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

Definition at line 2042 of file MsgConversion.cpp.

convertScan3dMsg()

bool rtabmap_conversions::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	is2D = false
	)

Definition at line 2751 of file MsgConversion.cpp.

convertScanMsg()

bool rtabmap_conversions::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 2592 of file MsgConversion.cpp.

convertStereoMsg()

bool rtabmap_conversions::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,
		bool	alreadyRectified
	)

Definition at line 2435 of file MsgConversion.cpp.

deskew() [1/2]

bool rtabmap_conversions::deskew	(	const sensor_msgs::PointCloud2 &	input,
		sensor_msgs::PointCloud2 &	output,
		const std::string &	fixedFrameId,
		tf::TransformListener &	listener,
		double	waitForTransform,
		bool	slerp = false
	)

Definition at line 3395 of file MsgConversion.cpp.

deskew() [2/2]

bool rtabmap_conversions::deskew	(	const sensor_msgs::PointCloud2 &	input,
		sensor_msgs::PointCloud2 &	output,
		double	previousStamp,
		const rtabmap::Transform &	velocity
	)

Definition at line 3406 of file MsgConversion.cpp.

deskew_impl()

bool rtabmap_conversions::deskew_impl	(	const sensor_msgs::PointCloud2 &	input,
		sensor_msgs::PointCloud2 &	output,
		const std::string &	fixedFrameId,
		tf::TransformListener *	listener,
		double	waitForTransform,
		bool	slerp,
		const rtabmap::Transform &	velocity,
		double	previousStamp
	)

Definition at line 2798 of file MsgConversion.cpp.

envSensorFromROS()

rtabmap::EnvSensor rtabmap_conversions::envSensorFromROS

(

const rtabmap_msgs::EnvSensor &

msg

)

Definition at line 665 of file MsgConversion.cpp.

envSensorsFromROS()

rtabmap::EnvSensors rtabmap_conversions::envSensorsFromROS

(

const std::vector< rtabmap_msgs::EnvSensor > &

msg

)

Definition at line 677 of file MsgConversion.cpp.

envSensorsToROS()

void rtabmap_conversions::envSensorsToROS	(	const rtabmap::EnvSensors &	sensors,
		std::vector< rtabmap_msgs::EnvSensor > &	msg
	)

Definition at line 691 of file MsgConversion.cpp.

envSensorToROS()

void rtabmap_conversions::envSensorToROS	(	const rtabmap::EnvSensor &	sensor,
		rtabmap_msgs::EnvSensor &	msg
	)

Definition at line 670 of file MsgConversion.cpp.

getMovingTransform()

rtabmap::Transform rtabmap_conversions::getMovingTransform	(	const std::string &	movingFrame,
		const std::string &	fixedFrame,
		const ros::Time &	stampFrom,
		const ros::Time &	stampTo,
		tf::TransformListener &	listener,
		double	waitForTransform
	)

Definition at line 2007 of file MsgConversion.cpp.

getTransform()

rtabmap::Transform rtabmap_conversions::getTransform	(	const std::string &	fromFrameId,
		const std::string &	toFrameId,
		const ros::Time &	stamp,
		tf::TransformListener &	listener,
		double	waitForTransform
	)

Definition at line 1971 of file MsgConversion.cpp.

globalDescriptorFromROS()

rtabmap::GlobalDescriptor rtabmap_conversions::globalDescriptorFromROS

(

const rtabmap_msgs::GlobalDescriptor &

msg

)

Definition at line 626 of file MsgConversion.cpp.

globalDescriptorsFromROS()

std::vector< rtabmap::GlobalDescriptor > rtabmap_conversions::globalDescriptorsFromROS

(

const std::vector< rtabmap_msgs::GlobalDescriptor > &

msg

)

Definition at line 638 of file MsgConversion.cpp.

globalDescriptorsToROS()

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

Definition at line 652 of file MsgConversion.cpp.

globalDescriptorToROS()

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

Definition at line 631 of file MsgConversion.cpp.

imuFromROS()

rtabmap::IMU rtabmap_conversions::imuFromROS	(	const sensor_msgs::Imu &	msg,
		const rtabmap::Transform &	localTransform = rtabmap::Transform::getIdentity()
	)

Definition at line 1866 of file MsgConversion.cpp.

imuToROS()

void rtabmap_conversions::imuToROS	(	const rtabmap::IMU &	imu,
		sensor_msgs::Imu &	msg
	)

Definition at line 1877 of file MsgConversion.cpp.

infoFromROS()

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

Definition at line 458 of file MsgConversion.cpp.

infoToROS()

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

Definition at line 526 of file MsgConversion.cpp.

keypointFromROS()

cv::KeyPoint rtabmap_conversions::keypointFromROS

(

const rtabmap_msgs::KeyPoint &

msg

)

Definition at line 580 of file MsgConversion.cpp.

keypointsFromROS() [1/2]

std::vector< cv::KeyPoint > rtabmap_conversions::keypointsFromROS

(

const std::vector< rtabmap_msgs::KeyPoint > &

msg

)

Definition at line 596 of file MsgConversion.cpp.

keypointsFromROS() [2/2]

void rtabmap_conversions::keypointsFromROS	(	const std::vector< rtabmap_msgs::KeyPoint > &	msg,
		std::vector< cv::KeyPoint > &	kpts,
		int	xShift = 0
	)

Definition at line 606 of file MsgConversion.cpp.

keypointsToROS()

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

Definition at line 617 of file MsgConversion.cpp.

keypointToROS()

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

Definition at line 585 of file MsgConversion.cpp.

landmarksFromROS()

rtabmap::Landmarks rtabmap_conversions::landmarksFromROS	(	const std::map< int, std::pair< geometry_msgs::PoseWithCovarianceStamped, float > > &	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 1903 of file MsgConversion.cpp.

linkFromROS()

rtabmap::Link rtabmap_conversions::linkFromROS

(

const rtabmap_msgs::Link &

msg

)

Definition at line 562 of file MsgConversion.cpp.

linkToROS()

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

Definition at line 568 of file MsgConversion.cpp.

mapDataFromROS()

void rtabmap_conversions::mapDataFromROS	(	const rtabmap_msgs::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 977 of file MsgConversion.cpp.

mapDataToROS()

void rtabmap_conversions::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_msgs::MapData &	msg
	)

Definition at line 993 of file MsgConversion.cpp.

mapGraphFromROS()

void rtabmap_conversions::mapGraphFromROS	(	const rtabmap_msgs::MapGraph &	msg,
		std::map< int, rtabmap::Transform > &	poses,
		std::multimap< int, rtabmap::Link > &	links,
		rtabmap::Transform &	mapToOdom
	)

Definition at line 1014 of file MsgConversion.cpp.

mapGraphToROS()

void rtabmap_conversions::mapGraphToROS	(	const std::map< int, rtabmap::Transform > &	poses,
		const std::multimap< int, rtabmap::Link > &	links,
		const rtabmap::Transform &	mapToOdom,
		rtabmap_msgs::MapGraph &	msg
	)

Definition at line 1033 of file MsgConversion.cpp.

nodeDataFromROS()

rtabmap::Signature rtabmap_conversions::nodeDataFromROS

(

const rtabmap_msgs::Node &

msg

)

Definition at line 1535 of file MsgConversion.cpp.

nodeDataToROS()

void rtabmap_conversions::nodeDataToROS	(	const rtabmap::Signature &	signature,
		rtabmap_msgs::Node &	msg
	)

Definition at line 1539 of file MsgConversion.cpp.

nodeFromROS()

rtabmap::Signature rtabmap_conversions::nodeFromROS

(

const rtabmap_msgs::Node &

msg

)

Definition at line 1399 of file MsgConversion.cpp.

nodeInfoFromROS()

rtabmap::Signature rtabmap_conversions::nodeInfoFromROS

(

const rtabmap_msgs::Node &

msg

)

Definition at line 1544 of file MsgConversion.cpp.

nodeInfoToROS()

void rtabmap_conversions::nodeInfoToROS	(	const rtabmap::Signature &	signature,
		rtabmap_msgs::Node &	msg
	)

Definition at line 1556 of file MsgConversion.cpp.

nodeToROS()

void rtabmap_conversions::nodeToROS	(	const rtabmap::Signature &	signature,
		rtabmap_msgs::Node &	msg
	)

Definition at line 1463 of file MsgConversion.cpp.

odomInfoFromROS()

rtabmap::OdometryInfo rtabmap_conversions::odomInfoFromROS	(	const rtabmap_msgs::OdomInfo &	msg,
		bool	ignoreData = false
	)

Definition at line 1659 of file MsgConversion.cpp.

odomInfoToROS()

void rtabmap_conversions::odomInfoToROS	(	const rtabmap::OdometryInfo &	info,
		rtabmap_msgs::OdomInfo &	msg,
		bool	ignoreData = false
	)

Definition at line 1738 of file MsgConversion.cpp.

odomInfoToStatistics()

std::map< std::string, float > rtabmap_conversions::odomInfoToStatistics

(

const rtabmap::OdometryInfo &

info

)

Definition at line 1568 of file MsgConversion.cpp.

point2fFromROS()

cv::Point2f rtabmap_conversions::point2fFromROS

(

const rtabmap_msgs::Point2f &

msg

)

Definition at line 705 of file MsgConversion.cpp.

point2fToROS()

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

Definition at line 710 of file MsgConversion.cpp.

point3fFromROS()

cv::Point3f rtabmap_conversions::point3fFromROS

(

const rtabmap_msgs::Point3f &

msg

)

Definition at line 735 of file MsgConversion.cpp.

point3fToROS()

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

Definition at line 740 of file MsgConversion.cpp.

points2fFromROS()

std::vector< cv::Point2f > rtabmap_conversions::points2fFromROS

(

const std::vector< rtabmap_msgs::Point2f > &

msg

)

Definition at line 716 of file MsgConversion.cpp.

points2fToROS()

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

Definition at line 726 of file MsgConversion.cpp.

points3fFromROS() [1/2]

std::vector< cv::Point3f > rtabmap_conversions::points3fFromROS	(	const std::vector< rtabmap_msgs::Point3f > &	msg,
		const rtabmap::Transform &	transform = rtabmap::Transform()
	)

Definition at line 747 of file MsgConversion.cpp.

points3fFromROS() [2/2]

void rtabmap_conversions::points3fFromROS	(	const std::vector< rtabmap_msgs::Point3f > &	msg,
		std::vector< cv::Point3f > &	points3,
		const rtabmap::Transform &	transform = rtabmap::Transform()
	)

Definition at line 762 of file MsgConversion.cpp.

points3fToROS()

void rtabmap_conversions::points3fToROS	(	const std::vector< cv::Point3f > &	pts,
		std::vector< rtabmap_msgs::Point3f > &	msg,
		const rtabmap::Transform &	transform = rtabmap::Transform()
	)

Definition at line 777 of file MsgConversion.cpp.

rgbdImageFromROS()

rtabmap::SensorData rtabmap_conversions::rgbdImageFromROS

(

const rtabmap_msgs::RGBDImageConstPtr &

image

)

Definition at line 288 of file MsgConversion.cpp.

rgbdImageToROS()

void rtabmap_conversions::rgbdImageToROS	(	const rtabmap::SensorData &	data,
		rtabmap_msgs::RGBDImage &	msg,
		const std::string &	sensorFrameId
	)

Definition at line 212 of file MsgConversion.cpp.

sensorDataFromROS()

rtabmap::SensorData rtabmap_conversions::sensorDataFromROS

(

const rtabmap_msgs::SensorData &

msg

)

Definition at line 1064 of file MsgConversion.cpp.

sensorDataToROS()

void rtabmap_conversions::sensorDataToROS	(	const rtabmap::SensorData &	signature,
		rtabmap_msgs::SensorData &	msg,
		const std::string &	frameId = "base_link",
		bool	copyRawData = false
	)

Definition at line 1252 of file MsgConversion.cpp.

stereoCameraModelFromROS() [1/2]

rtabmap::StereoCameraModel rtabmap_conversions::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 934 of file MsgConversion.cpp.

stereoCameraModelFromROS() [2/2]

rtabmap::StereoCameraModel rtabmap_conversions::stereoCameraModelFromROS	(	const sensor_msgs::CameraInfo &	leftCamInfo,
		const sensor_msgs::CameraInfo &	rightCamInfo,
		const std::string &	frameId,
		tf::TransformListener &	listener,
		double	waitForTransform
	)

Definition at line 946 of file MsgConversion.cpp.

timestampFromROS()

double rtabmap_conversions::timestampFromROS ( const ros::Time &  stamp )

inline

Definition at line 198 of file MsgConversion.h.

toCvCopy()

void rtabmap_conversions::toCvCopy	(	const rtabmap_msgs::RGBDImage &	image,
		cv_bridge::CvImagePtr &	rgb,
		cv_bridge::CvImagePtr &	depth
	)

Definition at line 136 of file MsgConversion.cpp.

toCvShare() [1/2]

void rtabmap_conversions::toCvShare	(	const rtabmap_msgs::RGBDImage &	image,
		const boost::shared_ptr< void const > &	trackedObject,
		cv_bridge::CvImageConstPtr &	rgb,
		cv_bridge::CvImageConstPtr &	depth
	)

Definition at line 171 of file MsgConversion.cpp.

toCvShare() [2/2]

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

Definition at line 166 of file MsgConversion.cpp.

transformFromGeometryMsg()

rtabmap::Transform rtabmap_conversions::transformFromGeometryMsg

(

const geometry_msgs::Transform &

msg

)

Definition at line 91 of file MsgConversion.cpp.

transformFromPoseMsg()

rtabmap::Transform rtabmap_conversions::transformFromPoseMsg	(	const geometry_msgs::Pose &	msg,
		bool	ignoreRotationIfNotSet = false
	)

Definition at line 118 of file MsgConversion.cpp.

transformFromTF()

rtabmap::Transform rtabmap_conversions::transformFromTF

(

const tf::Transform &

transform

)

Definition at line 64 of file MsgConversion.cpp.

transformToGeometryMsg()

void rtabmap_conversions::transformToGeometryMsg	(	const rtabmap::Transform &	transform,
		geometry_msgs::Transform &	msg
	)

Definition at line 71 of file MsgConversion.cpp.

transformToPoseMsg()

void rtabmap_conversions::transformToPoseMsg	(	const rtabmap::Transform &	transform,
		geometry_msgs::Pose &	msg
	)

Definition at line 106 of file MsgConversion.cpp.

transformToTF()

void rtabmap_conversions::transformToTF	(	const rtabmap::Transform &	transform,
		tf::Transform &	tfTransform
	)

Definition at line 52 of file MsgConversion.cpp.

userDataFromROS()

cv::Mat rtabmap_conversions::userDataFromROS

(

const rtabmap_msgs::UserData &

dataMsg

)

Definition at line 1820 of file MsgConversion.cpp.

userDataToROS()

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

Definition at line 1844 of file MsgConversion.cpp.