Merged Audio branch to trunk

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@560 f169173b-cf89-36c8-b27e-44dbe73f0c83

rtabmap/msg/ActuatorMsg.msg

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

rtabmap/msg/CvMatMsg.msg

@@ -0,0 +1,10 @@
+
+########################################
+# 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/RtabmapInfo.msg

@@ -11,7 +11,6 @@ Header header
 int32 refId
 int32 loopClosureId
 
-uint32 actuatorStep
-float32[] actuators
+rtabmap/ActuatorMsg[] actuators
 
 rtabmap/RtabmapInfoEx infoEx

rtabmap/msg/RtabmapInfoEx.msg

@@ -7,37 +7,32 @@
 
 Header header
 
-sensor_msgs/CompressedImage refImage
 int32 refChild
 
-sensor_msgs/CompressedImage loopClosureImage
-
-#std::map<int, float> posterior;
+# std::map<int, float> posterior;
 int32[] posteriorKeys
 float32[] posteriorValues
 
-#std::map<int, float> likelihood;
+# std::map<int, float> likelihood;
 int32[] likelihoodKeys
 float32[] likelihoodValues
 
-#std::map<int, int> weights;
+# std::map<int, int> weights;
 int32[] weightsKeys
 int32[] weightsValues
 
-#std::map<std::string, float> stats
+# std::map<std::string, float> stats
 string[] statsKeys
 float32[] statsValues
 
-##Keypoints##
-#std::multimap<int, cv::KeyPoint> refWords
+rtabmap/SensorMsg[] refRawData
+rtabmap/SensorMsg[] loopRawData
+
+#
+# For features2d : std::multimap<int, cv::Keypoint> words
+#
 int32[] refWordsKeys
 rtabmap/KeyPoint[] refWordsValues
 
-#std::multimap<int, cv::KeyPoint> loopWords
 int32[] loopWordsKeys
-rtabmap/KeyPoint[] loopWordsValues
-
-##SM masks##
-uint8[] refMotionMask
-uint8[] loopMotionMask
-
+rtabmap/KeyPoint[] loopWordsValues

rtabmap/msg/SensorMsg.msg

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

rtabmap/msg/Sensorimotor.msg

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

rtabmap/msg/SensoryMotorState.msg

@@ -1,14 +0,0 @@
-
-# Wrap the rtabmap::SMState class
-
-Header header
-
-uint32 sensorStep
-float32[] sensors
-
-uint32 actuatorStep
-float32[] actuators
-
-# Optional fields
-sensor_msgs/Image image
-rtabmap/KeyPoint[] keypoints