mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 16:57:46 +08:00
matlabbe
472596ac8e
map_optimizer doesn't need anymore to explicitly disable optimization in rtabmap node, thought it is still recommended to disable it to avoid double optimization... git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1941 f169173b-cf89-36c8-b27e-44dbe73f0c83
33 lines
810 B
Plaintext
33 lines
810 B
Plaintext
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int32 id
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int32 mapId
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# Pose from odometry not corrected
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geometry_msgs/Pose pose
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# compressed image in /camera_link frame
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# use rtabmap::util3d::uncompressImage() from <rtabmap/core/util3d.h>
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rtabmap/Bytes image
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# compressed depth image in /camera_link frame
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# use rtabmap::util3d::uncompressImage() from <rtabmap/core/util3d.h>
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rtabmap/Bytes depth
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float32 fx
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float32 fy
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float32 cx
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float32 cy
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# compressed 2D point cloud (laser scan) in /base_link frame
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# use rtabmap::util3d::uncompressData() from <rtabmap/core/util3d.h>
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rtabmap/Bytes depth2D
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# local transform (/base_link -> /camera_link)
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geometry_msgs/Transform localTransform
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# std::multimap<int, cv::Keypoint> words
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# std::multimap<int, pcl::PointXYZ> words3D
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int32[] wordsKeys
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rtabmap/KeyPoint[] wordsValues
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sensor_msgs/PointCloud2 words3DValues |