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71 lines
1.6 KiB
Plaintext
71 lines
1.6 KiB
Plaintext
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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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# Ground truth (optional)
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geometry_msgs/Pose ground_truth_pose
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# GPS (optional)
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GPS gps
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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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uint8[] 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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uint8[] depth
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# Camera models
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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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float32[] width
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float32[] height
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float32 baseline
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# local transform (/base_link -> /camera_link)
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geometry_msgs/Transform[] local_transform
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# compressed 2D or 3D laser scan
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# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
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uint8[] laser_scan
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int32 laser_scan_max_pts
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float32 laser_scan_max_range
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int32 laser_scan_format
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# local transform (/base_link -> /base_laser)
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geometry_msgs/Transform laser_scan_local_transform
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# compressed user data
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# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
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uint8[] user_data
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# compressed occupancy grid
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# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
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uint8[] grid_ground
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uint8[] grid_obstacles
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uint8[] grid_empty_cells
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float32 grid_cell_size
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Point3f grid_view_point
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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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GlobalDescriptor[] global_descriptors
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EnvSensor[] env_sensors
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