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First version rtabmap_launch working
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matlabbe
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/*
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Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef MSGCONVERSION_H_
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#define MSGCONVERSION_H_
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#include <tf/tf.h>
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#include <tf/transform_listener.h>
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#include <geometry_msgs/Transform.h>
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#include <geometry_msgs/Pose.h>
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#include <geometry_msgs/PoseWithCovarianceStamped.h>
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#include <sensor_msgs/CameraInfo.h>
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#include <sensor_msgs/LaserScan.h>
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#include <sensor_msgs/Image.h>
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#include <sensor_msgs/PointCloud2.h>
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#include <opencv2/opencv.hpp>
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#include <opencv2/features2d/features2d.hpp>
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#include <cv_bridge/cv_bridge.h>
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#include <rtabmap/core/Transform.h>
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#include <rtabmap/core/Link.h>
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#include <rtabmap/core/Signature.h>
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#include <rtabmap/core/OdometryInfo.h>
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#include <rtabmap/core/Statistics.h>
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#include <rtabmap/core/StereoCameraModel.h>
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#include <rtabmap_msgs/Link.h>
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#include <rtabmap_msgs/KeyPoint.h>
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#include <rtabmap_msgs/Point2f.h>
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#include <rtabmap_msgs/Point3f.h>
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#include <rtabmap_msgs/MapData.h>
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#include <rtabmap_msgs/MapGraph.h>
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#include <rtabmap_msgs/NodeData.h>
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#include <rtabmap_msgs/OdomInfo.h>
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#include <rtabmap_msgs/Info.h>
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#include <rtabmap_msgs/RGBDImage.h>
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#include <rtabmap_msgs/UserData.h>
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namespace rtabmap_conversions {
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void transformToTF(const rtabmap::Transform & transform, tf::Transform & tfTransform);
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rtabmap::Transform transformFromTF(const tf::Transform & transform);
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void transformToGeometryMsg(const rtabmap::Transform & transform, geometry_msgs::Transform & msg);
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rtabmap::Transform transformFromGeometryMsg(const geometry_msgs::Transform & msg);
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void transformToPoseMsg(const rtabmap::Transform & transform, geometry_msgs::Pose & msg);
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rtabmap::Transform transformFromPoseMsg(const geometry_msgs::Pose & msg, bool ignoreRotationIfNotSet = false);
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void toCvCopy(const rtabmap_msgs::RGBDImage & image, cv_bridge::CvImagePtr & rgb, cv_bridge::CvImagePtr & depth);
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void toCvShare(const rtabmap_msgs::RGBDImageConstPtr & image, cv_bridge::CvImageConstPtr & rgb, cv_bridge::CvImageConstPtr & depth);
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void toCvShare(const rtabmap_msgs::RGBDImage & image, const boost::shared_ptr<void const>& trackedObject, cv_bridge::CvImageConstPtr & rgb, cv_bridge::CvImageConstPtr & depth);
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void rgbdImageToROS(const rtabmap::SensorData & data, rtabmap_msgs::RGBDImage & msg, const std::string & sensorFrameId);
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rtabmap::SensorData rgbdImageFromROS(const rtabmap_msgs::RGBDImageConstPtr & image);
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// copy data
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void compressedMatToBytes(const cv::Mat & compressed, std::vector<unsigned char> & bytes);
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cv::Mat compressedMatFromBytes(const std::vector<unsigned char> & bytes, bool copy = true);
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void infoFromROS(const rtabmap_msgs::Info & info, rtabmap::Statistics & stat);
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void infoToROS(const rtabmap::Statistics & stats, rtabmap_msgs::Info & info);
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rtabmap::Link linkFromROS(const rtabmap_msgs::Link & msg);
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void linkToROS(const rtabmap::Link & link, rtabmap_msgs::Link & msg);
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cv::KeyPoint keypointFromROS(const rtabmap_msgs::KeyPoint & msg);
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void keypointToROS(const cv::KeyPoint & kpt, rtabmap_msgs::KeyPoint & msg);
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std::vector<cv::KeyPoint> keypointsFromROS(const std::vector<rtabmap_msgs::KeyPoint> & msg);
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void keypointsFromROS(const std::vector<rtabmap_msgs::KeyPoint> & msg, std::vector<cv::KeyPoint> & kpts, int xShift=0);
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void keypointsToROS(const std::vector<cv::KeyPoint> & kpts, std::vector<rtabmap_msgs::KeyPoint> & msg);
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rtabmap::GlobalDescriptor globalDescriptorFromROS(const rtabmap_msgs::GlobalDescriptor & msg);
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void globalDescriptorToROS(const rtabmap::GlobalDescriptor & desc, rtabmap_msgs::GlobalDescriptor & msg);
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std::vector<rtabmap::GlobalDescriptor> globalDescriptorsFromROS(const std::vector<rtabmap_msgs::GlobalDescriptor> & msg);
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void globalDescriptorsToROS(const std::vector<rtabmap::GlobalDescriptor> & desc, std::vector<rtabmap_msgs::GlobalDescriptor> & msg);
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rtabmap::EnvSensor envSensorFromROS(const rtabmap_msgs::EnvSensor & msg);
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void envSensorToROS(const rtabmap::EnvSensor & sensor, rtabmap_msgs::EnvSensor & msg);
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rtabmap::EnvSensors envSensorsFromROS(const std::vector<rtabmap_msgs::EnvSensor> & msg);
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void envSensorsToROS(const rtabmap::EnvSensors & sensors, std::vector<rtabmap_msgs::EnvSensor> & msg);
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cv::Point2f point2fFromROS(const rtabmap_msgs::Point2f & msg);
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void point2fToROS(const cv::Point2f & kpt, rtabmap_msgs::Point2f & msg);
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std::vector<cv::Point2f> points2fFromROS(const std::vector<rtabmap_msgs::Point2f> & msg);
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void points2fToROS(const std::vector<cv::Point2f> & kpts, std::vector<rtabmap_msgs::Point2f> & msg);
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cv::Point3f point3fFromROS(const rtabmap_msgs::Point3f & msg);
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void point3fToROS(const cv::Point3f & pt, rtabmap_msgs::Point3f & msg);
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std::vector<cv::Point3f> points3fFromROS(const std::vector<rtabmap_msgs::Point3f> & msg, const rtabmap::Transform & transform = rtabmap::Transform());
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void points3fFromROS(const std::vector<rtabmap_msgs::Point3f> & msg, std::vector<cv::Point3f> & points3, const rtabmap::Transform & transform = rtabmap::Transform());
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void points3fToROS(const std::vector<cv::Point3f> & pts, std::vector<rtabmap_msgs::Point3f> & msg, const rtabmap::Transform & transform = rtabmap::Transform());
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rtabmap::CameraModel cameraModelFromROS(
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const sensor_msgs::CameraInfo & camInfo,
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const rtabmap::Transform & localTransform = rtabmap::Transform::getIdentity());
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void cameraModelToROS(
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const rtabmap::CameraModel & model,
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sensor_msgs::CameraInfo & camInfo);
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rtabmap::StereoCameraModel stereoCameraModelFromROS(
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const sensor_msgs::CameraInfo & leftCamInfo,
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const sensor_msgs::CameraInfo & rightCamInfo,
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const rtabmap::Transform & localTransform = rtabmap::Transform::getIdentity(),
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const rtabmap::Transform & stereoTransform = rtabmap::Transform());
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rtabmap::StereoCameraModel stereoCameraModelFromROS(
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const sensor_msgs::CameraInfo & leftCamInfo,
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const sensor_msgs::CameraInfo & rightCamInfo,
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const std::string & frameId,
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tf::TransformListener & listener,
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double waitForTransform);
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void mapDataFromROS(
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const rtabmap_msgs::MapData & msg,
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std::map<int, rtabmap::Transform> & poses,
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std::multimap<int, rtabmap::Link> & links,
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std::map<int, rtabmap::Signature> & signatures,
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rtabmap::Transform & mapToOdom);
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void mapDataToROS(
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const std::map<int, rtabmap::Transform> & poses,
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const std::multimap<int, rtabmap::Link> & links,
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const std::map<int, rtabmap::Signature> & signatures,
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const rtabmap::Transform & mapToOdom,
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rtabmap_msgs::MapData & msg);
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void mapGraphFromROS(
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const rtabmap_msgs::MapGraph & msg,
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std::map<int, rtabmap::Transform> & poses,
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std::multimap<int, rtabmap::Link> & links,
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rtabmap::Transform & mapToOdom);
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void mapGraphToROS(
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const std::map<int, rtabmap::Transform> & poses,
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const std::multimap<int, rtabmap::Link> & links,
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const rtabmap::Transform & mapToOdom,
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rtabmap_msgs::MapGraph & msg);
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rtabmap::Signature nodeDataFromROS(const rtabmap_msgs::NodeData & msg);
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void nodeDataToROS(const rtabmap::Signature & signature, rtabmap_msgs::NodeData & msg);
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rtabmap::Signature nodeInfoFromROS(const rtabmap_msgs::NodeData & msg);
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void nodeInfoToROS(const rtabmap::Signature & signature, rtabmap_msgs::NodeData & msg);
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std::map<std::string, float> odomInfoToStatistics(const rtabmap::OdometryInfo & info);
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rtabmap::OdometryInfo odomInfoFromROS(const rtabmap_msgs::OdomInfo & msg, bool ignoreData = false);
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void odomInfoToROS(const rtabmap::OdometryInfo & info, rtabmap_msgs::OdomInfo & msg, bool ignoreData = false);
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cv::Mat userDataFromROS(const rtabmap_msgs::UserData & dataMsg);
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void userDataToROS(const cv::Mat & data, rtabmap_msgs::UserData & dataMsg, bool compress);
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rtabmap::Landmarks landmarksFromROS(
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const std::map<int, std::pair<geometry_msgs::PoseWithCovarianceStamped, float> > & tags,
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const std::string & frameId,
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const std::string & odomFrameId,
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const ros::Time & odomStamp,
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tf::TransformListener & listener,
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double waitForTransform,
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double defaultLinVariance,
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double defaultAngVariance);
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inline double timestampFromROS(const ros::Time & stamp) {return double(stamp.sec) + double(stamp.nsec)/1000000000.0;}
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// common stuff
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rtabmap::Transform getTransform(
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const std::string & fromFrameId,
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const std::string & toFrameId,
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const ros::Time & stamp,
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tf::TransformListener & listener,
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double waitForTransform);
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// get moving transform accordingly to a fixed frame. For example get
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// transform of /base_link between two stamps accordingly to /odom frame.
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rtabmap::Transform getTransform(
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const std::string & sourceTargetFrame,
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const std::string & fixedFrame,
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const ros::Time & stampSource,
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const ros::Time & stampTarget,
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tf::TransformListener & listener,
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double waitForTransform);
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bool convertRGBDMsgs(
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const std::vector<cv_bridge::CvImageConstPtr> & imageMsgs,
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const std::vector<cv_bridge::CvImageConstPtr> & depthMsgs,
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const std::vector<sensor_msgs::CameraInfo> & cameraInfoMsgs,
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const std::vector<sensor_msgs::CameraInfo> & depthCameraInfoMsgs,
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const std::string & frameId,
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const std::string & odomFrameId,
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const ros::Time & odomStamp,
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cv::Mat & rgb,
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cv::Mat & depth,
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std::vector<rtabmap::CameraModel> & cameraModels,
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std::vector<rtabmap::StereoCameraModel> & stereoCameraModels,
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tf::TransformListener & listener,
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double waitForTransform,
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bool alreadRectifiedImages,
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const std::vector<std::vector<rtabmap_msgs::KeyPoint> > & localKeyPointsMsgs = std::vector<std::vector<rtabmap_msgs::KeyPoint> >(),
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const std::vector<std::vector<rtabmap_msgs::Point3f> > & localPoints3dMsgs = std::vector<std::vector<rtabmap_msgs::Point3f> >(),
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const std::vector<cv::Mat> & localDescriptorsMsgs = std::vector<cv::Mat>(),
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std::vector<cv::KeyPoint> * localKeyPoints = 0,
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std::vector<cv::Point3f> * localPoints3d = 0,
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cv::Mat * localDescriptors = 0);
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bool convertStereoMsg(
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const cv_bridge::CvImageConstPtr& leftImageMsg,
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const cv_bridge::CvImageConstPtr& rightImageMsg,
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const sensor_msgs::CameraInfo& leftCamInfoMsg,
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const sensor_msgs::CameraInfo& rightCamInfoMsg,
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const std::string & frameId,
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const std::string & odomFrameId,
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const ros::Time & odomStamp,
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cv::Mat & left,
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cv::Mat & right,
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rtabmap::StereoCameraModel & stereoModel,
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tf::TransformListener & listener,
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double waitForTransform,
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bool alreadyRectified);
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bool convertScanMsg(
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const sensor_msgs::LaserScan & scan2dMsg,
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const std::string & frameId,
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const std::string & odomFrameId,
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const ros::Time & odomStamp,
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rtabmap::LaserScan & scan,
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tf::TransformListener & listener,
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double waitForTransform,
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bool outputInFrameId = false);
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bool convertScan3dMsg(
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const sensor_msgs::PointCloud2 & scan3dMsg,
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const std::string & frameId,
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const std::string & odomFrameId,
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const ros::Time & odomStamp,
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rtabmap::LaserScan & scan,
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tf::TransformListener & listener,
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double waitForTransform,
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int maxPoints = 0,
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float maxRange = 0.0f,
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bool is2D = false);
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bool deskew(
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const sensor_msgs::PointCloud2 & input,
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sensor_msgs::PointCloud2 & output,
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const std::string & fixedFrameId,
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tf::TransformListener & listener,
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double waitForTransform,
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bool slerp = false);
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bool deskew(
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const sensor_msgs::PointCloud2 & input,
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sensor_msgs::PointCloud2 & output,
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double previousStamp,
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const rtabmap::Transform & velocity);
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}
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#endif /* MSGCONVERSION_H_ */
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