rtabmap_msgs/msg/Node.msg

#class rtabmap::Signature

int32 id
int32 map_id
int32 weight
float64 stamp
string label

# Pose from odometry not corrected
geometry_msgs/Pose pose

# std::multimap<wordId, index>
# std::vector<cv::Keypoint>
# std::vector<cv::Point3f>
int32[] word_id_keys
int32[] word_id_values
KeyPoint[] word_kpts
Point3f[] word_pts
# compressed descriptors
# use rtabmap::uncompressData() from "rtabmap/core/Compression.h"
uint8[] word_descriptors

SensorData data
Add rtabmap_msgs/SensorData (#1055 ) 2023-11-19 13:16:35 -08:00			`#class rtabmap::Signature`

			`int32 id`
			`int32 map_id`
			`int32 weight`
			`float64 stamp`
			`string label`

			`# Pose from odometry not corrected`
			`geometry_msgs/Pose pose`

			`# std::multimap<wordId, index>`
			`# std::vector<cv::Keypoint>`
			`# std::vector<cv::Point3f>`
			`int32[] word_id_keys`
			`int32[] word_id_values`
			`KeyPoint[] word_kpts`
			`Point3f[] word_pts`
			`# compressed descriptors`
Supporting image compression formats passthrough (#1461 ) 2026-10-10 16:05:08 -07:00			`# use rtabmap::uncompressData() from "rtabmap/core/Compression.h"`
Add rtabmap_msgs/SensorData (#1055 ) 2023-11-19 13:16:35 -08:00			`uint8[] word_descriptors`

			`SensorData data`