Header header

bool lost
int32 matches
int32 inliers
float32 icpInliersRatio
float32 varianceLin
float32 varianceAng
int32 features
int32 localMapSize
int32 localScanMapSize
int32 localKeyFrames
int32 localBundleOutliers
int32 localBundleConstraints
float32 localBundleTime
bool keyFrameAdded
float32 timeEstimation
float32 timeParticleFiltering
float32 stamp
float32 interval
float32 distanceTravelled

geometry_msgs/Transform transform
geometry_msgs/Transform transformFiltered

# 0=F2M, 1=F2F
int32 type

# F2M odometry
#   std::multimap<int, cv::KeyPoint> words;
#   std::vector<int> wordMatches;
#   std::vector<int> wordInliers;
int32[] wordsKeys
KeyPoint[] wordsValues
int32[] wordMatches
int32[] wordInliers
int32[] localMapKeys
Point3f[] localMapValues

# compressed local scan map data
# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
uint8[] localScanMap

# F2F odometry
#   std::vector<cv::Point2f> refCorners;
#   std::vector<cv::Point2f> newCorners;
#   std::vector<int> cornerInliers;
Point2f[] refCorners
Point2f[] newCorners
int32[] cornerInliers