2012-12-11 18:05:05 +00:00
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########################################
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2014-12-14 16:44:13 -05:00
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# RTAB-Map info with statistics
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2012-12-11 18:05:05 +00:00
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########################################
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Header header
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int32 refId
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2013-12-11 00:12:44 +00:00
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int32 loopClosureId
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2016-03-11 20:16:52 -05:00
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int32 proximityDetectionId
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2013-12-11 00:12:44 +00:00
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geometry_msgs/Transform loopClosureTransform
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2014-12-14 16:44:13 -05:00
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####
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# For statistics...
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####
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# std::map<int, float> posterior;
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int32[] posteriorKeys
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float32[] posteriorValues
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# std::map<int, float> likelihood;
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int32[] likelihoodKeys
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float32[] likelihoodValues
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# std::map<int, float> rawLikelihood;
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int32[] rawLikelihoodKeys
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float32[] rawLikelihoodValues
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# std::map<int, int> weights;
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int32[] weightsKeys
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int32[] weightsValues
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2018-11-19 18:00:39 -05:00
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# std::map<int, std::string> labels;
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int32[] labelsKeys
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string[] labelsValues
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2014-12-14 16:44:13 -05:00
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# std::map<std::string, float> stats
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string[] statsKeys
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2015-02-03 11:16:06 -05:00
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float32[] statsValues
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# std::vector<int> localPath
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2015-09-21 18:15:20 -04:00
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int32[] localPath
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int32 currentGoalId
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