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Merged Audio branch to trunk

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@560 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2012-06-24 17:19:34 +00:00
parent 6de31a4080
commit ffcfa9236c
79 changed files with 3608 additions and 1349 deletions
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rtabmap/msg/RtabmapInfoEx.msg
+11 -16
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@@ -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