Helper funtion to change basis from frame source to frame target target_pose_source = Transformation(Rotation only; translation is zero) matrix betwee

Helper function to convert cuvslam pose estimate to tf2::Transform

Wait until a single odometry message was received from cuvslam.

Flag to check the status of initialization.

Helper function that converts transform into cuvslam::Pose

Helper function to create cuvslam::Image from NitrosImage. The caller must keep the supplied ReadHandle alive until cuvslam has finished using the ret

Remap the camera topics from a recording to prepend a namespace.

Helper function to create cuvslam::Image depth image from NitrosImage. The caller must keep the supplied ReadHandle alive until cuvslam has finished u

Helper function to create cuvslam::ImageEncoding from string using sensor_msgs image encoding.

Helper function to pass IMU data to cuVSLAM

Convert TrackingMode enum to string representation

Remap the imu topic from a recording to prepend a namespace.

Run visual SLAM with RGBD camera configuration from a rosbag. This configuration matches the isaac_ros_visual_slam_realsense_rgbd.launch.py

Wait until a single message is received.

This callback is called by the MessageStreamSequencer. The signature puts and emphasis on 1 or more messages for stream1 (faster stream) to 1 msg of s

Helper function to get child frame pose wrt parent frame from the tf tree

PoseGraphVisHelper

This method reads the sequence of messages and calls the respective callback of the message based on which stream it belongs.

Helper function to publish source frame pose wrt target frame to the tf tree

Testing already interleaved sequence Only one message should be left in stream1 buffer after the sequence is processed