mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 16:57:46 +08:00
matlabbe
c87beade6a
updated service name: publish_current_map_data and publish_full_map_data fixed not published recalled images Grid map assembler: remove obstacle if a new laser says empty Modified MapData and InfoEx msg (MapCorrection field is not anymore in MapData) git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1067 f169173b-cf89-36c8-b27e-44dbe73f0c83
50 lines
1.0 KiB
Plaintext
50 lines
1.0 KiB
Plaintext
|
|
########################################
|
|
# Extended info msg with statistics
|
|
########################################
|
|
|
|
Header header
|
|
|
|
int32 refId
|
|
int32 loopClosureId
|
|
int32 localLoopClosureId
|
|
|
|
# The map data (rgb, depth, depthConstant, depth2D, localTransform, poses, map ids)
|
|
rtabmap/MapData data
|
|
|
|
geometry_msgs/Transform mapCorrection
|
|
geometry_msgs/Transform loopClosureTransform
|
|
|
|
geometry_msgs/Pose currentPose
|
|
|
|
####
|
|
# For statistics and visualization below...
|
|
####
|
|
# std::map<int, float> posterior;
|
|
int32[] posteriorKeys
|
|
float32[] posteriorValues
|
|
|
|
# std::map<int, float> likelihood;
|
|
int32[] likelihoodKeys
|
|
float32[] likelihoodValues
|
|
|
|
# std::map<int, float> rawLikelihood;
|
|
int32[] rawLikelihoodKeys
|
|
float32[] rawLikelihoodValues
|
|
|
|
# std::map<int, int> weights;
|
|
int32[] weightsKeys
|
|
int32[] weightsValues
|
|
|
|
# std::map<std::string, float> stats
|
|
string[] statsKeys
|
|
float32[] statsValues
|
|
|
|
#
|
|
# For features2d : std::multimap<int, cv::Keypoint> words
|
|
#
|
|
int32[] refWordsKeys
|
|
rtabmap/KeyPoint[] refWordsValues
|
|
|
|
int32[] loopWordsKeys
|
|
rtabmap/KeyPoint[] loopWordsValues |