Function rtabmap_conversions::convertStereoMsg

• Defined in File MsgConversion.h

Function Documentation

bool rtabmap_conversions::convertStereoMsg(const cv_bridge::CvImageConstPtr &leftImageMsg, const cv_bridge::CvImageConstPtr &rightImageMsg, const sensor_msgs::msg::CameraInfo &leftCamInfoMsg, const sensor_msgs::msg::CameraInfo &rightCamInfoMsg, const std::string &frameId, const std::string &odomFrameId, const rclcpp::Time &odomStamp, cv::Mat &left, cv::Mat &right, rtabmap::StereoCameraModel &stereoModel, tf2_ros::Buffer &tfBuffer, double waitForTransform, bool alreadyRectified)