2012-03-03 04:44:40 +00:00
|
|
|
|
|
|
|
|
########################################
|
|
|
|
|
# Statistics stuff:
|
|
|
|
|
# These fields are empty if RTAb-Map's
|
|
|
|
|
# parameter publishStats=false
|
|
|
|
|
########################################
|
2011-06-20 16:49:22 +00:00
|
|
|
|
|
|
|
|
Header header
|
|
|
|
|
|
|
|
|
|
int32 refChild
|
|
|
|
|
|
2012-06-24 17:19:34 +00:00
|
|
|
# std::map<int, float> posterior;
|
2011-06-20 16:49:22 +00:00
|
|
|
int32[] posteriorKeys
|
|
|
|
|
float32[] posteriorValues
|
|
|
|
|
|
2012-06-24 17:19:34 +00:00
|
|
|
# std::map<int, float> likelihood;
|
2011-06-20 16:49:22 +00:00
|
|
|
int32[] likelihoodKeys
|
|
|
|
|
float32[] likelihoodValues
|
|
|
|
|
|
2012-06-24 17:19:34 +00:00
|
|
|
# std::map<int, int> weights;
|
2011-06-20 16:49:22 +00:00
|
|
|
int32[] weightsKeys
|
|
|
|
|
int32[] weightsValues
|
|
|
|
|
|
2012-06-24 17:19:34 +00:00
|
|
|
# std::map<std::string, float> stats
|
2011-06-20 16:49:22 +00:00
|
|
|
string[] statsKeys
|
|
|
|
|
float32[] statsValues
|
|
|
|
|
|
2012-06-24 17:19:34 +00:00
|
|
|
rtabmap/SensorMsg[] refRawData
|
|
|
|
|
rtabmap/SensorMsg[] loopRawData
|
|
|
|
|
|
|
|
|
|
#
|
|
|
|
|
# For features2d : std::multimap<int, cv::Keypoint> words
|
|
|
|
|
#
|
2011-06-20 16:49:22 +00:00
|
|
|
int32[] refWordsKeys
|
|
|
|
|
rtabmap/KeyPoint[] refWordsValues
|
|
|
|
|
|
|
|
|
|
int32[] loopWordsKeys
|
2012-06-24 17:19:34 +00:00
|
|
|
rtabmap/KeyPoint[] loopWordsValues
|
