Merged pcl_integration branch to trunk

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1014 f169173b-cf89-36c8-b27e-44dbe73f0c83

rtabmap/msg/Bytes.msg

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

rtabmap/msg/Info.msg

@@ -7,4 +7,17 @@
 Header header
 
 int32 refId
-int32 loopClosureId
+int32 refMapId
+int32 loopClosureId
+int32 loopClosureMapId
+int32 localLoopClosureId
+int32 localLoopClosureMapId
+
+# std::map<int, Poses> poses;
+int32[] nodeIds
+geometry_msgs/Pose[] nodePoses
+
+geometry_msgs/Transform mapCorrection
+geometry_msgs/Transform loopClosureTransform
+
+geometry_msgs/Pose currentPose

rtabmap/msg/InfoEx.msg

@@ -6,8 +6,20 @@
 Header header
 
 int32 refId
+int32 refMapId
 int32 loopClosureId
+int32 loopClosureMapId
 int32 localLoopClosureId
+int32 localLoopClosureMapId
+
+# std::map<int, Poses> poses;
+int32[] nodeIds
+geometry_msgs/Pose[] nodePoses
+
+geometry_msgs/Transform mapCorrection
+geometry_msgs/Transform loopClosureTransform
+
+geometry_msgs/Pose currentPose
 
 # std::map<int, float> posterior;
 int32[] posteriorKeys
@@ -29,10 +41,29 @@ int32[] weightsValues
 string[] statsKeys
 float32[] statsValues
 
-#compressed images : using cv::imencode()
+#compressed image
+# use rtabmap::util3d::uncompressImage() from <rtabmap/core/util3d.h>
 uint8[] refImage
 uint8[] loopImage
 
+#compressed depth
+# use rtabmap::util3d::uncompressImage() from <rtabmap/core/util3d.h>
+uint8[] refDepth
+uint8[] loopDepth
+
+#compressed depth2d
+# use rtabmap::util3d::uncompressData() from <rtabmap/core/util3d.h>
+uint8[] refDepth2D
+uint8[] loopDepth2D
+
+#camera info
+float32 refDepthConstant
+float32 loopDepthConstant
+
+#local transform
+geometry_msgs/Transform refLocalTransform
+geometry_msgs/Transform loopLocalTransform
+
 #
 # For features2d : std::multimap<int, cv::Keypoint> words
 #

rtabmap/msg/MapData.msg

@@ -0,0 +1,35 @@
+
+Header header
+
+# 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[] depths2D
+
+# depth constants
+int32[] depthConstantIDs
+float32[] depthConstants
+
+# local transforms
+int32[] localTransformIDs
+geometry_msgs/Transform[] localTransforms
+
+# std::map<int, Poses> poses;
+int32[] poseIDs
+geometry_msgs/Pose[] poses
+
+geometry_msgs/Transform mapCorrection
+