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https://github.com/introlab/rtabmap_ros.git
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matlabbe
04962c1a35
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@461 f169173b-cf89-36c8-b27e-44dbe73f0c83
44 lines
881 B
Plaintext
44 lines
881 B
Plaintext
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########################################
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# Statistics stuff:
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# These fields are empty if RTAb-Map's
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# parameter publishStats=false
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########################################
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Header header
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sensor_msgs/CompressedImage refImage
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int32 refChild
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sensor_msgs/CompressedImage loopClosureImage
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#std::map<int, float> posterior;
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int32[] posteriorKeys
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float32[] posteriorValues
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#std::map<int, float> likelihood;
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int32[] likelihoodKeys
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float32[] likelihoodValues
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#std::map<int, int> weights;
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int32[] weightsKeys
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int32[] weightsValues
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#std::map<std::string, float> stats
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string[] statsKeys
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float32[] statsValues
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##Keypoints##
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#std::multimap<int, cv::KeyPoint> refWords
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int32[] refWordsKeys
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rtabmap/KeyPoint[] refWordsValues
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#std::multimap<int, cv::KeyPoint> loopWords
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int32[] loopWordsKeys
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rtabmap/KeyPoint[] loopWordsValues
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##SM masks##
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uint8[] refMotionMask
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uint8[] loopMotionMask
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