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/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
+