rtabmap_ros Namespace Reference

Namespaces
	compression

Classes
class	CommonDataSubscriber
class	CoreWrapper
class	DataOdomSyncNodelet
class	DataThrottleNodelet
class	DisparityToDepth
class	GuiWrapper
class	ICPOdometry
class	ImuToTF
class	InfoDisplay
class	LidarDeskewing
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	PluginInterface
class	PointCloudAggregator
class	PointCloudAssembler
class	PointCloudToDepthImage
class	PointCloudXYZ
class	PointCloudXYZRGB
class	RGBDICPOdometry
class	RGBDOdometry
class	RGBDRelay
class	RGBDSplit
class	RGBDSync
class	RGBDXSync
class	RgbSync
class	StaticLayer
class	StereoOdometry
class	StereoSync
class	StereoThrottleNodelet
class	ULogToRosout
class	UndistortDepth
class	VoxelLayer

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_ros::KeyPoint > > &localKeyPointsMsgs=std::vector< std::vector< rtabmap_ros::KeyPoint > >(), const std::vector< std::vector< rtabmap_ros::Point3f > > &localPoints3dMsgs=std::vector< std::vector< rtabmap_ros::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_ros::EnvSensor &msg)
rtabmap::EnvSensors	envSensorsFromROS (const std::vector< rtabmap_ros::EnvSensor > &msg)
void	envSensorsToROS (const rtabmap::EnvSensors &sensors, std::vector< rtabmap_ros::EnvSensor > &msg)
void	envSensorToROS (const rtabmap::EnvSensor &sensor, rtabmap_ros::EnvSensor &msg)
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)
rtabmap::GlobalDescriptor	globalDescriptorFromROS (const rtabmap_ros::GlobalDescriptor &msg)
std::vector< rtabmap::GlobalDescriptor >	globalDescriptorsFromROS (const std::vector< rtabmap_ros::GlobalDescriptor > &msg)
void	globalDescriptorsToROS (const std::vector< rtabmap::GlobalDescriptor > &desc, std::vector< rtabmap_ros::GlobalDescriptor > &msg)
void	globalDescriptorToROS (const rtabmap::GlobalDescriptor &desc, rtabmap_ros::GlobalDescriptor &msg)
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	keypointsFromROS (const std::vector< rtabmap_ros::KeyPoint > &msg, std::vector< cv::KeyPoint > &kpts, int xShift=0)
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::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_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, bool ignoreData=false)
void	odomInfoToROS (const rtabmap::OdometryInfo &info, rtabmap_ros::OdomInfo &msg, bool ignoreData=false)
std::map< std::string, float >	odomInfoToStatistics (const rtabmap::OdometryInfo &info)
	PLUGINLIB_EXPORT_CLASS (rtabmap_ros::LidarDeskewing, nodelet::Nodelet)
	PLUGINLIB_EXPORT_CLASS (rtabmap_ros::UndistortDepth, nodelet::Nodelet)
	PLUGINLIB_EXPORT_CLASS (rtabmap_ros::ImuToTF, nodelet::Nodelet)
	PLUGINLIB_EXPORT_CLASS (rtabmap_ros::DataOdomSyncNodelet, nodelet::Nodelet)
	PLUGINLIB_EXPORT_CLASS (rtabmap_ros::DisparityToDepth, nodelet::Nodelet)
	PLUGINLIB_EXPORT_CLASS (rtabmap_ros::RGBDSplit, nodelet::Nodelet)
	PLUGINLIB_EXPORT_CLASS (rtabmap_ros::RGBDRelay, nodelet::Nodelet)
	PLUGINLIB_EXPORT_CLASS (rtabmap_ros::RgbSync, nodelet::Nodelet)
	PLUGINLIB_EXPORT_CLASS (rtabmap_ros::DataThrottleNodelet, nodelet::Nodelet)
	PLUGINLIB_EXPORT_CLASS (rtabmap_ros::StereoSync, nodelet::Nodelet)
	PLUGINLIB_EXPORT_CLASS (rtabmap_ros::StereoThrottleNodelet, nodelet::Nodelet)
	PLUGINLIB_EXPORT_CLASS (rtabmap_ros::PointCloudToDepthImage, nodelet::Nodelet)
	PLUGINLIB_EXPORT_CLASS (rtabmap_ros::RGBDSync, nodelet::Nodelet)
	PLUGINLIB_EXPORT_CLASS (rtabmap_ros::RGBDXSync, nodelet::Nodelet)
	PLUGINLIB_EXPORT_CLASS (rtabmap_ros::ObstaclesDetectionOld, nodelet::Nodelet)
	PLUGINLIB_EXPORT_CLASS (rtabmap_ros::PointCloudXYZ, nodelet::Nodelet)
	PLUGINLIB_EXPORT_CLASS (rtabmap_ros::ObstaclesDetection, nodelet::Nodelet)
	PLUGINLIB_EXPORT_CLASS (rtabmap_ros::PointCloudAggregator, nodelet::Nodelet)
	PLUGINLIB_EXPORT_CLASS (rtabmap_ros::RGBDICPOdometry, nodelet::Nodelet)
	PLUGINLIB_EXPORT_CLASS (rtabmap_ros::PointCloudAssembler, nodelet::Nodelet)
	PLUGINLIB_EXPORT_CLASS (rtabmap_ros::PointCloudXYZRGB, nodelet::Nodelet)
	PLUGINLIB_EXPORT_CLASS (rtabmap_ros::StereoOdometry, nodelet::Nodelet)
	PLUGINLIB_EXPORT_CLASS (rtabmap_ros::RGBDOdometry, nodelet::Nodelet)
	PLUGINLIB_EXPORT_CLASS (rtabmap_ros::ICPOdometry, 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 &pt, 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, const rtabmap::Transform &transform=rtabmap::Transform())
void	points3fFromROS (const std::vector< rtabmap_ros::Point3f > &msg, std::vector< cv::Point3f > &points3, const rtabmap::Transform &transform=rtabmap::Transform())
void	points3fToROS (const std::vector< cv::Point3f > &pts, std::vector< rtabmap_ros::Point3f > &msg, const rtabmap::Transform &transform=rtabmap::Transform())
rtabmap::SensorData	rgbdImageFromROS (const rtabmap_ros::RGBDImageConstPtr &image)
void	rgbdImageToROS (const rtabmap::SensorData &data, rtabmap_ros::RGBDImage &msg, const std::string &sensorFrameId)
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_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)
void	toCvShare (const rtabmap_ros::RGBDImage &image, const boost::shared_ptr< void const > &trackedObject, 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_ros::UserData &dataMsg)
void	userDataToROS (const cv::Mat &data, rtabmap_ros::UserData &dataMsg, bool compress)

Function Documentation

cameraModelFromROS()

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

Definition at line 795 of file MsgConversion.cpp.

cameraModelToROS()

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

Definition at line 869 of file MsgConversion.cpp.

compressedMatFromBytes()

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

Definition at line 444 of file MsgConversion.cpp.

compressedMatToBytes()

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

Definition at line 433 of file MsgConversion.cpp.

convertRGBDMsgs()

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::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_ros::KeyPoint > > &	localKeyPointsMsgs = std::vector<std::vector<rtabmap_ros::KeyPoint> >(),
		const std::vector< std::vector< rtabmap_ros::Point3f > > &	localPoints3dMsgs = std::vector<std::vector<rtabmap_ros::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 1804 of file MsgConversion.cpp.

convertScan3dMsg()

bool rtabmap_ros::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 2485 of file MsgConversion.cpp.

convertScanMsg()

bool rtabmap_ros::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 2344 of file MsgConversion.cpp.

convertStereoMsg()

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,
		bool	alreadyRectified
	)

Definition at line 2187 of file MsgConversion.cpp.

deskew() [1/2]

bool rtabmap_ros::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 2927 of file MsgConversion.cpp.

deskew() [2/2]

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

Definition at line 2938 of file MsgConversion.cpp.

deskew_impl()

bool rtabmap_ros::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 2532 of file MsgConversion.cpp.

envSensorFromROS()

rtabmap::EnvSensor rtabmap_ros::envSensorFromROS

(

const rtabmap_ros::EnvSensor &

msg

)

Definition at line 665 of file MsgConversion.cpp.

envSensorsFromROS()

rtabmap::EnvSensors rtabmap_ros::envSensorsFromROS

(

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

msg

)

Definition at line 677 of file MsgConversion.cpp.

envSensorsToROS()

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

Definition at line 691 of file MsgConversion.cpp.

envSensorToROS()

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

Definition at line 670 of file MsgConversion.cpp.

getTransform() [1/2]

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 1733 of file MsgConversion.cpp.

getTransform() [2/2]

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 1769 of file MsgConversion.cpp.

globalDescriptorFromROS()

rtabmap::GlobalDescriptor rtabmap_ros::globalDescriptorFromROS

(

const rtabmap_ros::GlobalDescriptor &

msg

)

Definition at line 626 of file MsgConversion.cpp.

globalDescriptorsFromROS()

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

(

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

msg

)

Definition at line 638 of file MsgConversion.cpp.

globalDescriptorsToROS()

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

Definition at line 652 of file MsgConversion.cpp.

globalDescriptorToROS()

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

Definition at line 631 of file MsgConversion.cpp.

infoFromROS()

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

Definition at line 458 of file MsgConversion.cpp.

infoToROS()

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

Definition at line 526 of file MsgConversion.cpp.

keypointFromROS()

cv::KeyPoint rtabmap_ros::keypointFromROS

(

const rtabmap_ros::KeyPoint &

msg

)

Definition at line 580 of file MsgConversion.cpp.

keypointsFromROS() [1/2]

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

(

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

msg

)

Definition at line 596 of file MsgConversion.cpp.

keypointsFromROS() [2/2]

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

Definition at line 606 of file MsgConversion.cpp.

keypointsToROS()

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

Definition at line 617 of file MsgConversion.cpp.

keypointToROS()

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

Definition at line 585 of file MsgConversion.cpp.

landmarksFromROS()

rtabmap::Landmarks rtabmap_ros::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 1665 of file MsgConversion.cpp.

linkFromROS()

rtabmap::Link rtabmap_ros::linkFromROS

(

const rtabmap_ros::Link &

msg

)

Definition at line 562 of file MsgConversion.cpp.

linkToROS()

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

Definition at line 568 of file MsgConversion.cpp.

mapDataFromROS()

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 977 of file MsgConversion.cpp.

mapDataToROS()

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 993 of file MsgConversion.cpp.

mapGraphFromROS()

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 1014 of file MsgConversion.cpp.

mapGraphToROS()

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 1033 of file MsgConversion.cpp.

nodeDataFromROS()

rtabmap::Signature rtabmap_ros::nodeDataFromROS

(

const rtabmap_ros::NodeData &

msg

)

Definition at line 1064 of file MsgConversion.cpp.

nodeDataToROS()

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

Definition at line 1215 of file MsgConversion.cpp.

nodeInfoFromROS()

rtabmap::Signature rtabmap_ros::nodeInfoFromROS

(

const rtabmap_ros::NodeData &

msg

)

Definition at line 1349 of file MsgConversion.cpp.

nodeInfoToROS()

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

Definition at line 1361 of file MsgConversion.cpp.

odomInfoFromROS()

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

Definition at line 1462 of file MsgConversion.cpp.

odomInfoToROS()

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

Definition at line 1539 of file MsgConversion.cpp.

odomInfoToStatistics()

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

(

const rtabmap::OdometryInfo &

info

)

Definition at line 1373 of file MsgConversion.cpp.

PLUGINLIB_EXPORT_CLASS() [1/25]

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

PLUGINLIB_EXPORT_CLASS() [2/25]

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

PLUGINLIB_EXPORT_CLASS() [3/25]

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

PLUGINLIB_EXPORT_CLASS() [4/25]

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

PLUGINLIB_EXPORT_CLASS() [5/25]

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

PLUGINLIB_EXPORT_CLASS() [6/25]

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

PLUGINLIB_EXPORT_CLASS() [7/25]

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

PLUGINLIB_EXPORT_CLASS() [8/25]

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

PLUGINLIB_EXPORT_CLASS() [9/25]

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

PLUGINLIB_EXPORT_CLASS() [10/25]

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

PLUGINLIB_EXPORT_CLASS() [11/25]

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

PLUGINLIB_EXPORT_CLASS() [12/25]

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

PLUGINLIB_EXPORT_CLASS() [13/25]

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

PLUGINLIB_EXPORT_CLASS() [14/25]

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

PLUGINLIB_EXPORT_CLASS() [15/25]

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

PLUGINLIB_EXPORT_CLASS() [16/25]

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

PLUGINLIB_EXPORT_CLASS() [17/25]

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

PLUGINLIB_EXPORT_CLASS() [18/25]

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

PLUGINLIB_EXPORT_CLASS() [19/25]

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

PLUGINLIB_EXPORT_CLASS() [20/25]

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

PLUGINLIB_EXPORT_CLASS() [21/25]

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

PLUGINLIB_EXPORT_CLASS() [22/25]

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

PLUGINLIB_EXPORT_CLASS() [23/25]

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

PLUGINLIB_EXPORT_CLASS() [24/25]

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

PLUGINLIB_EXPORT_CLASS() [25/25]

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

point2fFromROS()

cv::Point2f rtabmap_ros::point2fFromROS

(

const rtabmap_ros::Point2f &

msg

)

Definition at line 705 of file MsgConversion.cpp.

point2fToROS()

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

Definition at line 710 of file MsgConversion.cpp.

point3fFromROS()

cv::Point3f rtabmap_ros::point3fFromROS

(

const rtabmap_ros::Point3f &

msg

)

Definition at line 735 of file MsgConversion.cpp.

point3fToROS()

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

Definition at line 740 of file MsgConversion.cpp.

points2fFromROS()

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

(

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

msg

)

Definition at line 716 of file MsgConversion.cpp.

points2fToROS()

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

Definition at line 726 of file MsgConversion.cpp.

points3fFromROS() [1/2]

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

Definition at line 747 of file MsgConversion.cpp.

points3fFromROS() [2/2]

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

Definition at line 762 of file MsgConversion.cpp.

points3fToROS()

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

Definition at line 777 of file MsgConversion.cpp.

rgbdImageFromROS()

rtabmap::SensorData rtabmap_ros::rgbdImageFromROS

(

const rtabmap_ros::RGBDImageConstPtr &

image

)

Definition at line 288 of file MsgConversion.cpp.

rgbdImageToROS()

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

Definition at line 212 of file MsgConversion.cpp.

stereoCameraModelFromROS() [1/2]

rtabmap::StereoCameraModel rtabmap_ros::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_ros::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_ros::timestampFromROS ( const ros::Time &  stamp )

inline

Definition at line 188 of file MsgConversion.h.

toCvCopy()

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

Definition at line 136 of file MsgConversion.cpp.

toCvShare() [1/2]

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

Definition at line 166 of file MsgConversion.cpp.

toCvShare() [2/2]

void rtabmap_ros::toCvShare	(	const rtabmap_ros::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.

transformFromGeometryMsg()

rtabmap::Transform rtabmap_ros::transformFromGeometryMsg

(

const geometry_msgs::Transform &

msg

)

Definition at line 91 of file MsgConversion.cpp.

transformFromPoseMsg()

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

Definition at line 118 of file MsgConversion.cpp.

transformFromTF()

rtabmap::Transform rtabmap_ros::transformFromTF

(

const tf::Transform &

transform

)

Definition at line 64 of file MsgConversion.cpp.

transformToGeometryMsg()

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

Definition at line 71 of file MsgConversion.cpp.

transformToPoseMsg()

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

Definition at line 106 of file MsgConversion.cpp.

transformToTF()

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

Definition at line 52 of file MsgConversion.cpp.

userDataFromROS()

cv::Mat rtabmap_ros::userDataFromROS

(

const rtabmap_ros::UserData &

dataMsg

)

Definition at line 1619 of file MsgConversion.cpp.

userDataToROS()

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

Definition at line 1643 of file MsgConversion.cpp.