Header header bool lost int32 matches int32 inliers float32 icpInliersRatio float32 icpRotation float32 icpTranslation float32 icpStructuralComplexity float32 icpStructuralDistribution int32 icpCorrespondences float64[36] covariance int32 features int32 localMapSize int32 localScanMapSize int32 localKeyFrames int32 localBundleOutliers int32 localBundleConstraints float32 localBundleTime float32 localBundleAvgInlierDistance int32 localBundleMaxKeyFramesForInlier bool keyFrameAdded float32 timeEstimation float32 timeParticleFiltering float32 stamp float32 interval float32 distanceTravelled int32 memoryUsage # MB float32 gravityRollError float32 gravityPitchError # Local bundle camera ids int32[] localBundleIds # Local bundle camera models CameraModels[] localBundleModels # Local bundle camera poses geometry_msgs/Pose[] localBundlePoses geometry_msgs/Transform transform geometry_msgs/Transform transformFiltered geometry_msgs/Transform transformGroundTruth geometry_msgs/Transform guess # 0=F2M, 1=F2F int32 type # F2M odometry # std::multimap words; # std::vector wordMatches; # std::vector wordInliers; int32[] wordsKeys KeyPoint[] wordsValues int32[] wordMatches int32[] wordInliers int32[] localMapKeys Point3f[] localMapValues # local scan map data sensor_msgs/PointCloud2 localScanMap # F2F odometry # std::vector refCorners; # std::vector newCorners; # std::vector cornerInliers; Point2f[] refCorners Point2f[] newCorners int32[] cornerInliers