cleanup ros-pkg

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1269 f169173b-cf89-36c8-b27e-44dbe73f0c83

msg/Bytes.msg

@@ -0,0 +1,3 @@
+
+uint8[] bytes
+

msg/Info.msg

@@ -0,0 +1,20 @@
+
+########################################
+# If a loop is found with the current image ("refId"), 
+# "loopClosureId" is not null.
+########################################
+
+Header header
+
+int32 refId
+int32 loopClosureId
+int32 localLoopClosureId
+
+# std::map<int, Poses> poses;
+int32[] nodeIds
+geometry_msgs/Pose[] nodePoses
+
+geometry_msgs/Transform mapCorrection
+geometry_msgs/Transform loopClosureTransform
+
+geometry_msgs/Pose currentPose

msg/InfoEx.msg

@@ -0,0 +1,50 @@
+
+########################################
+# Extended info msg with statistics 
+########################################
+
+Header header
+
+int32 refId
+int32 loopClosureId
+int32 localLoopClosureId
+
+# The map data (rgb, depth, depthConstant, depth2D, localTransform, poses, constraints, map ids)
+rtabmap/MapData data
+
+geometry_msgs/Transform mapCorrection
+geometry_msgs/Transform loopClosureTransform
+
+geometry_msgs/Pose currentPose
+
+####
+# For statistics and visualization ...
+####
+# std::map<int, float> posterior;
+int32[] posteriorKeys
+float32[] posteriorValues
+
+# std::map<int, float> likelihood;
+int32[] likelihoodKeys
+float32[] likelihoodValues
+
+# std::map<int, float> rawLikelihood;
+int32[] rawLikelihoodKeys
+float32[] rawLikelihoodValues
+
+# std::map<int, int> weights;
+int32[] weightsKeys
+int32[] weightsValues
+
+# std::map<std::string, float> stats
+string[] statsKeys
+float32[] statsValues
+
+#
+# For features2d : std::multimap<int, cv::Keypoint> words
+#
+int32[] refWordsKeys
+rtabmap/KeyPoint[] refWordsValues
+
+int32[] loopWordsKeys
+rtabmap/KeyPoint[] loopWordsValues

msg/KeyPoint.msg

@@ -0,0 +1,17 @@
+#class cv::KeyPoint
+#{
+#    Point2f pt;
+#    float size;
+#    float angle;
+#    float response;
+#    int octave;
+#    int class_id;
+#}
+
+float32 ptx
+float32 pty
+float32 size
+float32 angle
+float32 response
+int32 octave
+int32 class_id

msg/MapData.msg

@@ -0,0 +1,43 @@
+
+Header header
+
+# Map ids
+int32[] mapIDs
+int32[] maps
+
+# compressed images
+# use rtabmap::util3d::uncompressImage() from <rtabmap/core/util3d.h>
+# std::map<int, uint8[]> images;
+int32[] imageIDs
+rtabmap/Bytes[] images
+
+# compressed depth images
+# use rtabmap::util3d::uncompressImage() from <rtabmap/core/util3d.h>
+# std::map<int, uint8[]> depths;
+int32[] depthIDs
+rtabmap/Bytes[] depths
+
+# compressed 2D point clouds (laser scans)
+# use rtabmap::util3d::uncompressData() from <rtabmap/core/util3d.h>
+# std::map<int, uint8[]> depths2d;
+int32[] depth2DIDs
+rtabmap/Bytes[] depth2Ds
+
+# depth constants
+int32[] depthConstantIDs
+float32[] depthConstants
+
+# local transforms
+int32[] localTransformIDs
+geometry_msgs/Transform[] localTransforms
+
+# std::map<int, Pose> poses;
+int32[] poseIDs
+geometry_msgs/Pose[] poses
+
+# std::multimap<int, Link> constraints;
+int32[] constraintFromIDs
+int32[] constraintToIDs
+int32[] constraintTypes
+geometry_msgs/Transform[] constraints
+