merged attention branch to trunk

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@657 f169173b-cf89-36c8-b27e-44dbe73f0c83

rtabmap/msg/ActuatorMsg.msg

@@ -1,6 +0,0 @@
-########################################
-# Actuator
-########################################
-
-uint32 type # Actuator type, refer to rtabmap::Actuator::Type enum)
-rtabmap/CvMatMsg matrix

rtabmap/msg/CvMatMsg.msg

@@ -1,10 +0,0 @@
-
-########################################
-# OpenCV Matrix description
-########################################
-
-uint32 width     # Matrix width
-uint32 height    # Matrix height
-uint32 dataType  # Matrix data type (refer to OpenCV type, e.g. CV_8UC3 for a RGB image 8bits)
-uint8[] data     # Matrix data
-uint8 compressed  # if data is compressed (in case of an image for example)

rtabmap/msg/Info.msg

@@ -0,0 +1,10 @@
+
+########################################
+# If a loop is found with the current image ("refId"), 
+# "loopClosureId" is not null.
+########################################
+
+Header header
+
+int32 refId
+int32 loopClosureId

rtabmap/msg/InfoEx.msg

@@ -1,13 +1,12 @@
 
 ########################################
-# Statistics stuff: 
-# These fields are empty if RTAb-Map's 
-# parameter publishStats=false
+# Extended info msg with statistics 
 ########################################
 
 Header header
 
-int32 refChild
+int32 refId
+int32 loopClosureId
 
 # std::map<int, float> posterior;
 int32[] posteriorKeys
@@ -25,8 +24,8 @@ int32[] weightsValues
 string[] statsKeys
 float32[] statsValues
 
-rtabmap/SensorMsg[] refRawData
-rtabmap/SensorMsg[] loopRawData
+sensor_msgs/Image refImage
+sensor_msgs/Image loopImage
 
 #
 # For features2d : std::multimap<int, cv::Keypoint> words

rtabmap/msg/RtabmapInfo.msg

@@ -1,16 +0,0 @@
-
-########################################
-# If a loop is found with the current image ("refId"), 
-# "loopClosureId" is not null. Field "actuators" contains 
-# (when actions are used) actions executed after the 
-# "loopClosureId".
-########################################
-
-Header header
-
-int32 refId
-int32 loopClosureId
-
-rtabmap/ActuatorMsg[] actuators
-
-rtabmap/RtabmapInfoEx infoEx

rtabmap/msg/SensorMsg.msg

@@ -1,8 +0,0 @@
-########################################
-# Sensor
-########################################
-
-uint32 type      # Sensor type (e.g. for sensor: image, audio),
-                 # refer to rtabmap::Sensor::Type).
-rtabmap/CvMatMsg matrix
-                 

rtabmap/msg/Sensorimotor.msg

@@ -1,4 +0,0 @@
-Header header
-
-rtabmap/SensorMsg[] sensors
-rtabmap/ActuatorMsg[] actuators