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https://github.com/introlab/rtabmap_ros.git
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matlabbe
67de27b1ee
* Add rtabmap_msgs/SensorData * After testing fixes * Updated output topic name * added explicit --logconsole for nodelets * fixed intermediate nodes not generated * Refactored SyncDiagnostic usage to handle nodelet name * SyncDiagnostic: added TimeStampStatus. Odom: added new status when data not received yet * rtabmap: Fixed parameters not updated when using nodelet
24 lines
456 B
Plaintext
24 lines
456 B
Plaintext
#class rtabmap::Signature
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int32 id
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int32 map_id
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int32 weight
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float64 stamp
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string label
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# Pose from odometry not corrected
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geometry_msgs/Pose pose
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# std::multimap<wordId, index>
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# std::vector<cv::Keypoint>
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# std::vector<cv::Point3f>
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int32[] word_id_keys
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int32[] word_id_values
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KeyPoint[] word_kpts
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Point3f[] word_pts
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# compressed descriptors
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# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
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uint8[] word_descriptors
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SensorData data
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