merged attention branch to trunk

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@657 f169173b-cf89-36c8-b27e-44dbe73f0c83
2026-10-08 02:37:45 +08:00 · 2012-12-11 18:05:05 +00:00
parent 7eb9253e32
commit d8d9118a00
81 changed files with 126 additions and 4352 deletions
@@ -0,0 +1,37 @@
+
+########################################
+# Extended info msg with statistics 
+########################################
+
+Header header
+
+int32 refId
+int32 loopClosureId
+
+# std::map<int, float> posterior;
+int32[] posteriorKeys
+float32[] posteriorValues
+
+# std::map<int, float> likelihood;
+int32[] likelihoodKeys
+float32[] likelihoodValues
+
+# std::map<int, int> weights;
+int32[] weightsKeys
+int32[] weightsValues
+
+# std::map<std::string, float> stats
+string[] statsKeys
+float32[] statsValues
+
+sensor_msgs/Image refImage
+sensor_msgs/Image loopImage
+
+#
+# For features2d : std::multimap<int, cv::Keypoint> words
+#
+int32[] refWordsKeys
+rtabmap/KeyPoint[] refWordsValues
+
+int32[] loopWordsKeys
+rtabmap/KeyPoint[] loopWordsValues