Classes | Functions
rtabmap_ros Namespace Reference

Classes

class  CommonDataSubscriber
class  CoreWrapper
class  DataOdomSyncNodelet
class  DataThrottleNodelet
class  DisparityToDepth
class  GuiWrapper
class  ICPOdometry
class  InfoDisplay
class  MapCloudDisplay
 Displays point clouds from rtabmap::MapData. More...
class  MapGraphDisplay
 Displays the graph of rtabmap::MapGraph message. More...
class  ObstaclesDetection
class  ObstaclesDetectionOld
class  OdometryROS
class  OrbitOrientedViewController
class  PointCloudAggregator
class  PointCloudToDepthImage
class  PointCloudXYZ
class  PointCloudXYZRGB
class  RGBDICPOdometry
class  RGBDOdometry
class  RGBDSync
class  StaticLayer
class  StereoOdometry
class  StereoSync
class  StereoThrottleNodelet
class  UndistortDepth

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::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 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 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 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 getTransform (const std::string &fromFrameId, const std::string &toFrameId, const ros::Time &stamp, tf::TransformListener &listener, double waitForTransform)
rtabmap::Transform getTransform (const std::string &sourceTargetFrame, const std::string &fixedFrame, const ros::Time &stampSource, const ros::Time &stampTarget, tf::TransformListener &listener, double waitForTransform)
void infoFromROS (const rtabmap_ros::Info &info, rtabmap::Statistics &stat)
void infoToROS (const rtabmap::Statistics &stats, rtabmap_ros::Info &info)
cv::KeyPoint keypointFromROS (const rtabmap_ros::KeyPoint &msg)
std::vector< cv::KeyPoint > keypointsFromROS (const std::vector< rtabmap_ros::KeyPoint > &msg)
void keypointsToROS (const std::vector< cv::KeyPoint > &kpts, std::vector< rtabmap_ros::KeyPoint > &msg)
void keypointToROS (const cv::KeyPoint &kpt, rtabmap_ros::KeyPoint &msg)
rtabmap::Link linkFromROS (const rtabmap_ros::Link &msg)
void linkToROS (const rtabmap::Link &link, rtabmap_ros::Link &msg)
void 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 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 mapGraphFromROS (const rtabmap_ros::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_ros::MapGraph &msg)
rtabmap::Signature nodeDataFromROS (const rtabmap_ros::NodeData &msg)
void nodeDataToROS (const rtabmap::Signature &signature, rtabmap_ros::NodeData &msg)
rtabmap::Signature nodeInfoFromROS (const rtabmap_ros::NodeData &msg)
void nodeInfoToROS (const rtabmap::Signature &signature, rtabmap_ros::NodeData &msg)
rtabmap::OdometryInfo odomInfoFromROS (const rtabmap_ros::OdomInfo &msg)
void odomInfoToROS (const rtabmap::OdometryInfo &info, rtabmap_ros::OdomInfo &msg)
 PLUGINLIB_EXPORT_CLASS (rtabmap_ros::UndistortDepth, nodelet::Nodelet)
 PLUGINLIB_EXPORT_CLASS (rtabmap_ros::DataOdomSyncNodelet, nodelet::Nodelet)
 PLUGINLIB_EXPORT_CLASS (rtabmap_ros::DisparityToDepth, nodelet::Nodelet)
 PLUGINLIB_EXPORT_CLASS (rtabmap_ros::StereoSync, nodelet::Nodelet)
 PLUGINLIB_EXPORT_CLASS (rtabmap_ros::DataThrottleNodelet, nodelet::Nodelet)
 PLUGINLIB_EXPORT_CLASS (rtabmap_ros::RGBDSync, nodelet::Nodelet)
 PLUGINLIB_EXPORT_CLASS (rtabmap_ros::StereoThrottleNodelet, nodelet::Nodelet)
 PLUGINLIB_EXPORT_CLASS (rtabmap_ros::PointCloudToDepthImage, nodelet::Nodelet)
 PLUGINLIB_EXPORT_CLASS (rtabmap_ros::PointCloudAggregator, nodelet::Nodelet)
 PLUGINLIB_EXPORT_CLASS (rtabmap_ros::ICPOdometry, nodelet::Nodelet)
 PLUGINLIB_EXPORT_CLASS (rtabmap_ros::ObstaclesDetectionOld, nodelet::Nodelet)
 PLUGINLIB_EXPORT_CLASS (rtabmap_ros::PointCloudXYZ, nodelet::Nodelet)
 PLUGINLIB_EXPORT_CLASS (rtabmap_ros::StereoOdometry, nodelet::Nodelet)
 PLUGINLIB_EXPORT_CLASS (rtabmap_ros::ObstaclesDetection, nodelet::Nodelet)
 PLUGINLIB_EXPORT_CLASS (rtabmap_ros::RGBDICPOdometry, nodelet::Nodelet)
 PLUGINLIB_EXPORT_CLASS (rtabmap_ros::PointCloudXYZRGB, nodelet::Nodelet)
 PLUGINLIB_EXPORT_CLASS (rtabmap_ros::RGBDOdometry, nodelet::Nodelet)
 PLUGINLIB_EXPORT_CLASS (rtabmap_ros::CoreWrapper, nodelet::Nodelet)
cv::Point2f point2fFromROS (const rtabmap_ros::Point2f &msg)
void point2fToROS (const cv::Point2f &kpt, rtabmap_ros::Point2f &msg)
cv::Point3f point3fFromROS (const rtabmap_ros::Point3f &msg)
void point3fToROS (const cv::Point3f &kpt, rtabmap_ros::Point3f &msg)
std::vector< cv::Point2f > points2fFromROS (const std::vector< rtabmap_ros::Point2f > &msg)
void points2fToROS (const std::vector< cv::Point2f > &kpts, std::vector< rtabmap_ros::Point2f > &msg)
std::vector< cv::Point3f > points3fFromROS (const std::vector< rtabmap_ros::Point3f > &msg)
void points3fToROS (const std::vector< cv::Point3f > &kpts, std::vector< rtabmap_ros::Point3f > &msg)
rtabmap::SensorData rgbdImageFromROS (const rtabmap_ros::RGBDImageConstPtr &image)
rtabmap::StereoCameraModel stereoCameraModelFromROS (const sensor_msgs::CameraInfo &leftCamInfo, const sensor_msgs::CameraInfo &rightCamInfo, const rtabmap::Transform &localTransform=rtabmap::Transform::getIdentity())
double timestampFromROS (const ros::Time &stamp)
void toCvCopy (const rtabmap_ros::RGBDImage &image, cv_bridge::CvImagePtr &rgb, cv_bridge::CvImagePtr &depth)
void toCvShare (const rtabmap_ros::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)
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_ros::UserData &dataMsg)
void userDataToROS (const cv::Mat &data, rtabmap_ros::UserData &dataMsg, bool compress)

Function Documentation

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

Definition at line 569 of file MsgConversion.cpp.

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

Definition at line 623 of file MsgConversion.cpp.

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

Definition at line 364 of file MsgConversion.cpp.

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

Definition at line 353 of file MsgConversion.cpp.

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 
)

Definition at line 1291 of file MsgConversion.cpp.

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 
)

Definition at line 1627 of file MsgConversion.cpp.

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 
)

Definition at line 1547 of file MsgConversion.cpp.

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 
)

Definition at line 1456 of file MsgConversion.cpp.

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

Definition at line 1220 of file MsgConversion.cpp.

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 
)

Definition at line 1256 of file MsgConversion.cpp.

void rtabmap_ros::infoFromROS ( const rtabmap_ros::Info info,
rtabmap::Statistics stat 
)

Definition at line 378 of file MsgConversion.cpp.

void rtabmap_ros::infoToROS ( const rtabmap::Statistics stats,
rtabmap_ros::Info info 
)

Definition at line 426 of file MsgConversion.cpp.

cv::KeyPoint rtabmap_ros::keypointFromROS ( const rtabmap_ros::KeyPoint &  msg)

Definition at line 473 of file MsgConversion.cpp.

std::vector< cv::KeyPoint > rtabmap_ros::keypointsFromROS ( const std::vector< rtabmap_ros::KeyPoint > &  msg)

Definition at line 489 of file MsgConversion.cpp.

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

Definition at line 499 of file MsgConversion.cpp.

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

Definition at line 478 of file MsgConversion.cpp.

rtabmap::Link rtabmap_ros::linkFromROS ( const rtabmap_ros::Link &  msg)

Definition at line 455 of file MsgConversion.cpp.

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

Definition at line 461 of file MsgConversion.cpp.

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 
)

Definition at line 700 of file MsgConversion.cpp.

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 
)

Definition at line 716 of file MsgConversion.cpp.

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

Definition at line 737 of file MsgConversion.cpp.

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 
)

Definition at line 756 of file MsgConversion.cpp.

rtabmap::Signature rtabmap_ros::nodeDataFromROS ( const rtabmap_ros::NodeData &  msg)

Definition at line 787 of file MsgConversion.cpp.

void rtabmap_ros::nodeDataToROS ( const rtabmap::Signature signature,
rtabmap_ros::NodeData &  msg 
)

Definition at line 913 of file MsgConversion.cpp.

rtabmap::Signature rtabmap_ros::nodeInfoFromROS ( const rtabmap_ros::NodeData &  msg)

Definition at line 1046 of file MsgConversion.cpp.

void rtabmap_ros::nodeInfoToROS ( const rtabmap::Signature signature,
rtabmap_ros::NodeData &  msg 
)

Definition at line 1058 of file MsgConversion.cpp.

rtabmap::OdometryInfo rtabmap_ros::odomInfoFromROS ( const rtabmap_ros::OdomInfo &  msg)

Definition at line 1070 of file MsgConversion.cpp.

void rtabmap_ros::odomInfoToROS ( const rtabmap::OdometryInfo info,
rtabmap_ros::OdomInfo &  msg 
)

Definition at line 1125 of file MsgConversion.cpp.

cv::Point2f rtabmap_ros::point2fFromROS ( const rtabmap_ros::Point2f &  msg)

Definition at line 508 of file MsgConversion.cpp.

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

Definition at line 513 of file MsgConversion.cpp.

cv::Point3f rtabmap_ros::point3fFromROS ( const rtabmap_ros::Point3f &  msg)

Definition at line 538 of file MsgConversion.cpp.

void rtabmap_ros::point3fToROS ( const cv::Point3f &  kpt,
rtabmap_ros::Point3f &  msg 
)

Definition at line 543 of file MsgConversion.cpp.

std::vector< cv::Point2f > rtabmap_ros::points2fFromROS ( const std::vector< rtabmap_ros::Point2f > &  msg)

Definition at line 519 of file MsgConversion.cpp.

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

Definition at line 529 of file MsgConversion.cpp.

std::vector< cv::Point3f > rtabmap_ros::points3fFromROS ( const std::vector< rtabmap_ros::Point3f > &  msg)

Definition at line 550 of file MsgConversion.cpp.

void rtabmap_ros::points3fToROS ( const std::vector< cv::Point3f > &  kpts,
std::vector< rtabmap_ros::Point3f > &  msg 
)

Definition at line 560 of file MsgConversion.cpp.

rtabmap::SensorData rtabmap_ros::rgbdImageFromROS ( const rtabmap_ros::RGBDImageConstPtr &  image)

Definition at line 221 of file MsgConversion.cpp.

rtabmap::StereoCameraModel rtabmap_ros::stereoCameraModelFromROS ( const sensor_msgs::CameraInfo &  leftCamInfo,
const sensor_msgs::CameraInfo &  rightCamInfo,
const rtabmap::Transform localTransform = rtabmap::Transform::getIdentity() 
)

Definition at line 688 of file MsgConversion.cpp.

double rtabmap_ros::timestampFromROS ( const ros::Time stamp) [inline]

Definition at line 153 of file MsgConversion.h.

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

Definition at line 130 of file MsgConversion.cpp.

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

Definition at line 170 of file MsgConversion.cpp.

rtabmap::Transform rtabmap_ros::transformFromGeometryMsg ( const geometry_msgs::Transform &  msg)

Definition at line 89 of file MsgConversion.cpp.

Definition at line 116 of file MsgConversion.cpp.

Definition at line 62 of file MsgConversion.cpp.

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

Definition at line 69 of file MsgConversion.cpp.

Definition at line 104 of file MsgConversion.cpp.

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

Definition at line 50 of file MsgConversion.cpp.

cv::Mat rtabmap_ros::userDataFromROS ( const rtabmap_ros::UserData &  dataMsg)

Definition at line 1174 of file MsgConversion.cpp.

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

Definition at line 1198 of file MsgConversion.cpp.



rtabmap_ros
Author(s): Mathieu Labbe
autogenerated on Thu Jun 6 2019 21:30:50