rtabmap/msg/Info.msg


########################################
# If a loop is found with the current image ("refId"), 
# "loopClosureId" is not null.
########################################

Header header

int32 refId
int32 loopClosureId
int32 localLoopClosureId

# std::map<int, Poses> poses;
int32[] nodeIds
geometry_msgs/Pose[] nodePoses

geometry_msgs/Transform mapCorrection
geometry_msgs/Transform loopClosureTransform

geometry_msgs/Pose currentPose
merged attention branch to trunk 2012-12-11 18:05:05 +00:00
			`########################################`
			`# If a loop is found with the current image ("refId"),`
			`# "loopClosureId" is not null.`
			`########################################`

			`Header header`

			`int32 refId`
Merged pcl_integration branch to trunk 2013-12-11 00:12:44 +00:00			`int32 loopClosureId`
			`int32 localLoopClosureId`

			`# std::map<int, Poses> poses;`
			`int32[] nodeIds`
			`geometry_msgs/Pose[] nodePoses`

			`geometry_msgs/Transform mapCorrection`
			`geometry_msgs/Transform loopClosureTransform`

			`geometry_msgs/Pose currentPose`