updated rtabmap ros-pkg name to rtabmap_ros

2026-10-08 10:47:46 +08:00 · 2014-11-25 17:12:23 -05:00
parent b0da0ae77a
commit a4a6272df7
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+/*
+Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef MSGCONVERSION_H_
+#define MSGCONVERSION_H_
+
+#include <tf/LinearMath/Transform.h>
+#include <geometry_msgs/Transform.h>
+#include <geometry_msgs/Pose.h>
+#include <rtabmap/core/Transform.h>
+#include <opencv2/opencv.hpp>
+
+namespace rtabmap {
+
+void transformToTF(const rtabmap::Transform & transform, tf::Transform & tfTransform);
+rtabmap::Transform transformFromTF(const tf::Transform & transform);
+
+void transformToGeometryMsg(const rtabmap::Transform & transform, geometry_msgs::Transform & msg);
+rtabmap::Transform transformFromGeometryMsg(const geometry_msgs::Transform & msg);
+
+void transformToPoseMsg(const rtabmap::Transform & transform, geometry_msgs::Pose & msg);
+rtabmap::Transform transformFromPoseMsg(const geometry_msgs::Pose & msg);
+
+// copy data
+void compressedMatToBytes(const cv::Mat & compressed, std::vector<unsigned char> & bytes);
+cv::Mat compressedMatFromBytes(const std::vector<unsigned char> & bytes, bool copy = true);
+
+}
+
+#endif /* MSGCONVERSION_H_ */