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OodmInfo msg: Added local bundle key frames

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matlabbe
2021-09-30 15:04:03 -04:00
parent a5fe8df170
commit 3288c56151
2 changed files with 35 additions and 0 deletions
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msg/OdomInfo.msg
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@@ -28,6 +28,16 @@ int32 memoryUsage # MB
float32 gravityRollError
float32 gravityPitchError
# Local bundle camera ids
int32[] localBundleIds
# Local bundle camera models
sensor_msgs/CameraInfo[] localBundleModels
geometry_msgs/Transform[] localBundleModelTransforms
# Local bundle camera poses
geometry_msgs/Pose[] localBundlePoses
geometry_msgs/Transform transform
geometry_msgs/Transform transformFiltered
geometry_msgs/Transform transformGroundTruth