mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 16:57:46 +08:00
matlabbe
5e459c5e32
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1059 f169173b-cf89-36c8-b27e-44dbe73f0c83
20 lines
436 B
Plaintext
20 lines
436 B
Plaintext
|
|
########################################
|
|
# If a loop is found with the current image ("refId"),
|
|
# "loopClosureId" is not null.
|
|
########################################
|
|
|
|
Header header
|
|
|
|
int32 refId
|
|
int32 loopClosureId
|
|
int32 localLoopClosureId
|
|
|
|
# std::map<int, Poses> poses;
|
|
int32[] nodeIds
|
|
geometry_msgs/Pose[] nodePoses
|
|
|
|
geometry_msgs/Transform mapCorrection
|
|
geometry_msgs/Transform loopClosureTransform
|
|
|
|
geometry_msgs/Pose currentPose |