2013-12-11 00:12:44 +00:00
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Header header
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2014-09-22 18:04:29 +00:00
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# Map ids std::map<nodeId, mapId>
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2014-01-08 16:11:44 +00:00
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int32[] mapIDs
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int32[] maps
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2013-12-11 00:12:44 +00:00
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# compressed images
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# use rtabmap::util3d::uncompressImage() from <rtabmap/core/util3d.h>
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# std::map<int, uint8[]> images;
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int32[] imageIDs
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rtabmap/Bytes[] images
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# compressed depth images
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# use rtabmap::util3d::uncompressImage() from <rtabmap/core/util3d.h>
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# std::map<int, uint8[]> depths;
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int32[] depthIDs
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rtabmap/Bytes[] depths
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# compressed 2D point clouds (laser scans)
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# use rtabmap::util3d::uncompressData() from <rtabmap/core/util3d.h>
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# std::map<int, uint8[]> depths2d;
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int32[] depth2DIDs
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2014-01-08 16:11:44 +00:00
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rtabmap/Bytes[] depth2Ds
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2013-12-11 00:12:44 +00:00
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2014-07-28 14:25:05 +00:00
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# depth fx
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int32[] depthFxIDs
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float32[] depthFxs
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# depth fy
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int32[] depthFyIDs
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float32[] depthFys
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# depth cx
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int32[] depthCxIDs
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float32[] depthCxs
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# depth cy
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int32[] depthCyIDs
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float32[] depthCys
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2013-12-11 00:12:44 +00:00
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# local transforms
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int32[] localTransformIDs
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geometry_msgs/Transform[] localTransforms
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2014-02-11 23:08:37 +00:00
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# std::map<int, Pose> poses;
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2013-12-11 00:12:44 +00:00
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int32[] poseIDs
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geometry_msgs/Pose[] poses
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2014-02-11 23:08:37 +00:00
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# std::multimap<int, Link> constraints;
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int32[] constraintFromIDs
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int32[] constraintToIDs
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int32[] constraintTypes
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geometry_msgs/Transform[] constraints
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