msg/OdomInfo.msg


Header header

bool lost
int32 matches
int32 inliers
float32 icpInliersRatio
float32 icpRotation
float32 icpTranslation
float32 icpStructuralComplexity
float32 icpStructuralDistribution
int32 icpCorrespondences
float64[36] covariance
int32 features
int32 localMapSize
int32 localScanMapSize
int32 localKeyFrames
int32 localBundleOutliers
int32 localBundleConstraints
float32 localBundleTime
bool keyFrameAdded
float32 timeEstimation
float32 timeParticleFiltering
float32 stamp
float32 interval
float32 distanceTravelled
int32 memoryUsage # MB
float32 gravityRollError
float32 gravityPitchError

geometry_msgs/Transform transform
geometry_msgs/Transform transformFiltered
geometry_msgs/Transform transformGroundTruth
geometry_msgs/Transform guess

# 0=F2M, 1=F2F
int32 type

# F2M odometry
#   std::multimap<int, cv::KeyPoint> words;
#   std::vector<int> wordMatches;
#   std::vector<int> wordInliers;
int32[] wordsKeys
KeyPoint[] wordsValues
int32[] wordMatches
int32[] wordInliers
int32[] localMapKeys
Point3f[] localMapValues

# compressed local scan map data
# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
uint8[] localScanMap
int32 localScanMapFormat

# F2F odometry
#   std::vector<cv::Point2f> refCorners;
#   std::vector<cv::Point2f> newCorners;
#   std::vector<int> cornerInliers;
Point2f[] refCorners
Point2f[] newCorners
int32[] cornerInliers
Updated ros-pkg for RTAB-Map 0.8.0 2014-12-14 16:44:13 -05:00
			`Header header`

			`bool lost`
			`int32 matches`
			`int32 inliers`
Updated OdomInfo msg 2017-04-02 17:44:40 -04:00			`float32 icpInliersRatio`
Updated API for OdomInfo object/conversion. 2017-09-11 13:26:34 -04:00			`float32 icpRotation`
			`float32 icpTranslation`
			`float32 icpStructuralComplexity`
OdomInfo: added icpStructuralDistribution info 2020-04-14 17:07:51 -04:00			`float32 icpStructuralDistribution`
Updated OdomInfo msg with icpCorrespondences. rtabmapviz: fixed odom variance stats when only subscribed to odom_info. 2020-03-28 18:51:38 -04:00			`int32 icpCorrespondences`
Fixed build for rtabmap 0.13.0 2017-05-23 16:31:06 -04:00			`float64[36] covariance`
Updated ros-pkg for RTAB-Map 0.8.0 2014-12-14 16:44:13 -05:00			`int32 features`
			`int32 localMapSize`
OdomInfo msg: added local scan map field. OdometryROS: publishing odom_local_scan_map 2016-08-08 14:37:32 -04:00			`int32 localScanMapSize`
Updated OdomInfo msg 2017-04-02 17:44:40 -04:00			`int32 localKeyFrames`
			`int32 localBundleOutliers`
			`int32 localBundleConstraints`
			`float32 localBundleTime`
			`bool keyFrameAdded`
updated with upstream library changes 2015-06-16 17:42:56 -04:00			`float32 timeEstimation`
			`float32 timeParticleFiltering`
			`float32 stamp`
			`float32 interval`
			`float32 distanceTravelled`
Update 0.15.4. 2018-02-01 22:16:13 -05:00			`int32 memoryUsage # MB`
Updated OdomInfo msg 2020-05-31 18:16:18 -04:00			`float32 gravityRollError`
			`float32 gravityPitchError`
Updated OdomInfo msg to include inliers/outliers data, updated default launch files 2015-01-23 15:18:06 -05:00
Updated OdomInfo msg 2017-04-02 17:44:40 -04:00			`geometry_msgs/Transform transform`
			`geometry_msgs/Transform transformFiltered`
sync with upstream 0.18.2. Fixed icp_odometry pause not working, added expected_update_rate parameter to odometry to filter messages with bad stamps (gazebo issue), filter consecutive messages with same stamp 2018-11-21 12:01:09 -05:00			`geometry_msgs/Transform transformGroundTruth`
Updated OdomInfo to use guess instead of deprecated guessVelocity 2021-03-13 19:18:03 -05:00			`geometry_msgs/Transform guess`
Updated OdomInfo msg 2017-04-02 17:44:40 -04:00
			`# 0=F2M, 1=F2F`
Updated OdomInfo msg to include inliers/outliers data, updated default launch files 2015-01-23 15:18:06 -05:00			`int32 type`

Updated OdomInfo msg 2017-04-02 17:44:40 -04:00			`# F2M odometry`
			`# std::multimap<int, cv::KeyPoint> words;`
			`# std::vector<int> wordMatches;`
			`# std::vector<int> wordInliers;`
Updated OdomInfo msg to include inliers/outliers data, updated default launch files 2015-01-23 15:18:06 -05:00			`int32[] wordsKeys`
			`KeyPoint[] wordsValues`
			`int32[] wordMatches`
			`int32[] wordInliers`
Updated against latest changes from 0.11. Added localMap features to OdomInfo msg. Updated rgbdslam_datasets.launch. 2016-03-09 17:31:57 -05:00			`int32[] localMapKeys`
			`Point3f[] localMapValues`
Updated OdomInfo msg to include inliers/outliers data, updated default launch files 2015-01-23 15:18:06 -05:00
OdomInfo msg: added local scan map field. OdometryROS: publishing odom_local_scan_map 2016-08-08 14:37:32 -04:00			`# compressed local scan map data`
			`# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"`
			`uint8[] localScanMap`
Increased minimum rtabmap version to 0.20.7. Updated OdomInfo msg with localScanMapFormat (fixed intensity channel wrongly converted to rgb). rtabmap.launch: Show in rviz filtered scan from odometry if icp_odometry is true. rtabmapviz: fixed hanging shutdown after a ctr-c. OdometryROS: can now publish local scan map with intensity channel. icp_odometry: fixed intensity ignored if voxel size is set. 2020-11-28 17:28:45 -05:00			`int32 localScanMapFormat`
OdomInfo msg: added local scan map field. OdometryROS: publishing odom_local_scan_map 2016-08-08 14:37:32 -04:00
Updated OdomInfo msg 2017-04-02 17:44:40 -04:00			`# F2F odometry`
			`# std::vector<cv::Point2f> refCorners;`
			`# std::vector<cv::Point2f> newCorners;`
			`# std::vector<int> cornerInliers;`
			`Point2f[] refCorners`
			`Point2f[] newCorners`
			`int32[] cornerInliers`