cleanup ros-pkg

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

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