Classes
class	DataOdomSyncNodelet
class	DataThrottleNodelet
class	DisparityToDepth
class	InfoDisplay
class	MapCloudDisplay
	Displays point clouds from rtabmap::MapData. More...
class	MapGraphDisplay
	Displays the graph of rtabmap::MapGraph message. More...
class	ObstaclesDetection
class	OdometryROS
class	OrbitOrientedViewController
class	PointCloudAggregator
class	PointCloudXYZ
class	PointCloudXYZRGB
class	RGBDOdometry
class	StaticLayer
class	StereoOdometry
class	StereoThrottleNodelet
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)
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::PointCloudAggregator, nodelet::Nodelet)
	PLUGINLIB_EXPORT_CLASS (rtabmap_ros::DataOdomSyncNodelet, nodelet::Nodelet)
	PLUGINLIB_EXPORT_CLASS (rtabmap_ros::DisparityToDepth, nodelet::Nodelet)
	PLUGINLIB_EXPORT_CLASS (rtabmap_ros::DataThrottleNodelet, nodelet::Nodelet)
	PLUGINLIB_EXPORT_CLASS (rtabmap_ros::StereoOdometry, nodelet::Nodelet)
	PLUGINLIB_EXPORT_CLASS (rtabmap_ros::StereoThrottleNodelet, nodelet::Nodelet)
	PLUGINLIB_EXPORT_CLASS (rtabmap_ros::PointCloudXYZ, nodelet::Nodelet)
	PLUGINLIB_EXPORT_CLASS (rtabmap_ros::ObstaclesDetection, nodelet::Nodelet)
	PLUGINLIB_EXPORT_CLASS (rtabmap_ros::PointCloudXYZRGB, nodelet::Nodelet)
	PLUGINLIB_EXPORT_CLASS (rtabmap_ros::RGBDOdometry, 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::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)
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)

Function Documentation

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

Definition at line 330 of file MsgConversion.cpp.

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

Definition at line 345 of file MsgConversion.cpp.

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

Definition at line 128 of file MsgConversion.cpp.

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

Definition at line 117 of file MsgConversion.cpp.

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

Definition at line 142 of file MsgConversion.cpp.

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

Definition at line 190 of file MsgConversion.cpp.

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

Definition at line 234 of file MsgConversion.cpp.

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

Definition at line 250 of file MsgConversion.cpp.

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

Definition at line 260 of file MsgConversion.cpp.

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

Definition at line 239 of file MsgConversion.cpp.

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

Definition at line 219 of file MsgConversion.cpp.

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

Definition at line 224 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 415 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 431 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 452 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 471 of file MsgConversion.cpp.

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

Definition at line 502 of file MsgConversion.cpp.

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

Definition at line 604 of file MsgConversion.cpp.

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

Definition at line 682 of file MsgConversion.cpp.

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

Definition at line 694 of file MsgConversion.cpp.

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

Definition at line 706 of file MsgConversion.cpp.

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

Definition at line 748 of file MsgConversion.cpp.

rtabmap_ros::PLUGINLIB_EXPORT_CLASS	(	rtabmap_ros::PointCloudAggregator	,
		nodelet::Nodelet
	)

rtabmap_ros::PLUGINLIB_EXPORT_CLASS	(	rtabmap_ros::DataOdomSyncNodelet	,
		nodelet::Nodelet
	)

rtabmap_ros::PLUGINLIB_EXPORT_CLASS	(	rtabmap_ros::DisparityToDepth	,
		nodelet::Nodelet
	)

rtabmap_ros::PLUGINLIB_EXPORT_CLASS	(	rtabmap_ros::DataThrottleNodelet	,
		nodelet::Nodelet
	)

rtabmap_ros::PLUGINLIB_EXPORT_CLASS	(	rtabmap_ros::StereoOdometry	,
		nodelet::Nodelet
	)

rtabmap_ros::PLUGINLIB_EXPORT_CLASS	(	rtabmap_ros::StereoThrottleNodelet	,
		nodelet::Nodelet
	)

rtabmap_ros::PLUGINLIB_EXPORT_CLASS	(	rtabmap_ros::PointCloudXYZ	,
		nodelet::Nodelet
	)

rtabmap_ros::PLUGINLIB_EXPORT_CLASS	(	rtabmap_ros::ObstaclesDetection	,
		nodelet::Nodelet
	)

rtabmap_ros::PLUGINLIB_EXPORT_CLASS	(	rtabmap_ros::PointCloudXYZRGB	,
		nodelet::Nodelet
	)

rtabmap_ros::PLUGINLIB_EXPORT_CLASS	(	rtabmap_ros::RGBDOdometry	,
		nodelet::Nodelet
	)

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

Definition at line 269 of file MsgConversion.cpp.

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

Definition at line 274 of file MsgConversion.cpp.

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

Definition at line 299 of file MsgConversion.cpp.

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

Definition at line 304 of file MsgConversion.cpp.

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

Definition at line 280 of file MsgConversion.cpp.

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

Definition at line 290 of file MsgConversion.cpp.

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

Definition at line 311 of file MsgConversion.cpp.

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

Definition at line 321 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 398 of file MsgConversion.cpp.

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

Definition at line 140 of file MsgConversion.h.

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

Definition at line 76 of file MsgConversion.cpp.

rtabmap::Transform rtabmap_ros::transformFromPoseMsg ( const geometry_msgs::Pose & msg )

Definition at line 103 of file MsgConversion.cpp.

rtabmap::Transform rtabmap_ros::transformFromTF ( const tf::Transform & transform )

Definition at line 56 of file MsgConversion.cpp.

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

Definition at line 63 of file MsgConversion.cpp.

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

Definition at line 91 of file MsgConversion.cpp.

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

Definition at line 44 of file MsgConversion.cpp.

Classes

Functions

Function Documentation