2014-10-26 21:49:30 +00:00
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int32 id
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2014-10-30 14:48:31 +00:00
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int32 mapId
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# Pose from odometry not corrected
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geometry_msgs/Pose pose
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2014-10-26 21:49:30 +00:00
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# compressed image in /camera_link frame
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2014-12-14 16:44:13 -05:00
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# use rtabmap::util3d::uncompressImage() from "rtabmap/core/util3d.h"
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uint8[] image
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2014-10-26 21:49:30 +00:00
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# compressed depth image in /camera_link frame
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2014-12-14 16:44:13 -05:00
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# use rtabmap::util3d::uncompressImage() from "rtabmap/core/util3d.h"
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uint8[] depth
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2014-10-26 21:49:30 +00:00
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float32 fx
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float32 fy
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float32 cx
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float32 cy
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2014-12-14 16:44:13 -05:00
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# compressed 2D laser scan in /base_link frame
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# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
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uint8[] laserScan
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2014-10-26 21:49:30 +00:00
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# local transform (/base_link -> /camera_link)
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geometry_msgs/Transform localTransform
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2014-12-14 16:44:13 -05:00
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# std::multimap<wordId, cv::Keypoint>
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# std::multimap<wordId, pcl::PointXYZ>
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int32[] wordIds
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KeyPoint[] wordKpts
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sensor_msgs/PointCloud2 wordPts
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