mirror of
https://github.com/introlab/rtabmap_ros.git
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58 lines
1.3 KiB
Plaintext
58 lines
1.3 KiB
Plaintext
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std_msgs/Header header
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bool lost
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int32 matches
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int32 inliers
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float32 icp_inliers_ratio
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float32 icp_rotation
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float32 icp_translation
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float32 icp_structural_complexity
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float64[36] covariance
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int32 features
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int32 local_map_size
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int32 local_scan_map_size
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int32 local_key_frames
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int32 local_bundle_outliers
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int32 local_bundle_constraints
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float32 local_bundle_time
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bool key_frame_added
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float32 time_estimation
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float32 time_particle_filtering
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float32 stamp
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float32 interval
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float32 distance_travelled
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int32 memory_usage # MB
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geometry_msgs/Transform transform
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geometry_msgs/Transform transform_filtered
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geometry_msgs/Transform transform_ground_truth
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geometry_msgs/Transform guess_velocity
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# 0=F2M, 1=F2F
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int32 type
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# F2M odometry
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# std::multimap<int, cv::KeyPoint> words;
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# std::vector<int> wordMatches;
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# std::vector<int> wordInliers;
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int32[] words_keys
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KeyPoint[] words_values
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int32[] word_matches
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int32[] word_inliers
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int32[] local_map_keys
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Point3f[] local_map_values
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# compressed local scan map data
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# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
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uint8[] local_scan_map
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# F2F odometry
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# std::vector<cv::Point2f> ref_corners;
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# std::vector<cv::Point2f> new_corners;
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# std::vector<int> corner_inliers;
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Point2f[] ref_corners
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Point2f[] new_corners
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int32[] corner_inliers
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