2014-12-14 16:44:13 -05:00
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2020-01-30 17:18:48 -05:00
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std_msgs/Header header
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2014-12-14 16:44:13 -05:00
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bool lost
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int32 matches
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int32 inliers
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2020-01-30 17:18:48 -05:00
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float32 icp_inliers_ratio
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float32 icp_rotation
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float32 icp_translation
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float32 icp_structural_complexity
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2021-10-04 19:29:19 -04:00
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float32 icp_structural_distribution
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int32 icp_correspondences
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2017-05-23 16:31:06 -04:00
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float64[36] covariance
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2014-12-14 16:44:13 -05:00
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int32 features
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2020-01-30 17:18:48 -05:00
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int32 local_map_size
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int32 local_scan_map_size
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int32 local_key_frames
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int32 local_bundle_outliers
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int32 local_bundle_constraints
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float32 local_bundle_time
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2025-03-01 16:18:10 -08:00
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float32 local_bundle_avg_inlier_distance
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int32 local_bundle_max_key_frames_for_inlier
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2020-01-30 17:18:48 -05:00
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bool key_frame_added
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float32 time_estimation
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float32 time_particle_filtering
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2015-06-16 17:42:56 -04:00
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float32 stamp
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float32 interval
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2020-01-30 17:18:48 -05:00
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float32 distance_travelled
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int32 memory_usage # MB
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2015-01-23 15:18:06 -05:00
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2021-10-04 19:29:19 -04:00
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float32 gravity_roll_error
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float32 gravity_pitch_error
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2015-01-23 15:18:06 -05:00
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2021-09-30 15:04:03 -04:00
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# Local bundle camera ids
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2021-10-04 19:29:19 -04:00
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int32[] local_bundle_ids
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2021-09-30 15:04:03 -04:00
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# Local bundle camera models
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2022-10-01 18:09:19 -07:00
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CameraModels[] local_bundle_models
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2021-09-30 15:04:03 -04:00
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# Local bundle camera poses
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2021-10-04 19:29:19 -04:00
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geometry_msgs/Pose[] local_bundle_poses
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2021-09-30 15:04:03 -04:00
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2017-04-02 17:44:40 -04:00
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geometry_msgs/Transform transform
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2020-01-30 17:18:48 -05:00
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geometry_msgs/Transform transform_filtered
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geometry_msgs/Transform transform_ground_truth
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2021-03-13 19:18:03 -05:00
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geometry_msgs/Transform guess
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2017-04-02 17:44:40 -04:00
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# 0=F2M, 1=F2F
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2015-01-23 15:18:06 -05:00
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int32 type
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2017-04-02 17:44:40 -04:00
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# F2M odometry
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# std::multimap<int, cv::KeyPoint> words;
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# std::vector<int> wordMatches;
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# std::vector<int> wordInliers;
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2020-01-30 17:18:48 -05:00
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int32[] words_keys
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KeyPoint[] words_values
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int32[] word_matches
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int32[] word_inliers
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int32[] local_map_keys
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Point3f[] local_map_values
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2015-01-23 15:18:06 -05:00
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2021-09-24 11:34:23 -04:00
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# local scan map data
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2021-10-04 19:29:19 -04:00
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sensor_msgs/PointCloud2 local_scan_map
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2016-08-08 14:37:32 -04:00
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2017-04-02 17:44:40 -04:00
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# F2F odometry
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2020-01-30 17:18:48 -05:00
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# std::vector<cv::Point2f> ref_corners;
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# std::vector<cv::Point2f> new_corners;
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# std::vector<int> corner_inliers;
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Point2f[] ref_corners
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Point2f[] new_corners
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int32[] corner_inliers
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2017-04-02 17:44:40 -04:00
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