mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-07 10:17:45 +08:00
matlabbe
760d4e8545
-changed rtabmap service names publish_full_map_data -> publish_global_map_data and publish_current_map_data -> publish_local_map_data -added demo_multi-session_mapping.launch git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1118 f169173b-cf89-36c8-b27e-44dbe73f0c83
50 lines
1.0 KiB
Plaintext
50 lines
1.0 KiB
Plaintext
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########################################
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# Extended info msg with statistics
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########################################
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Header header
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int32 refId
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int32 loopClosureId
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int32 localLoopClosureId
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# The map data (rgb, depth, depthConstant, depth2D, localTransform, poses, constraints, map ids)
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rtabmap/MapData data
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geometry_msgs/Transform mapCorrection
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geometry_msgs/Transform loopClosureTransform
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geometry_msgs/Pose currentPose
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####
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# For statistics and visualization ...
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####
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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, float> rawLikelihood;
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int32[] rawLikelihoodKeys
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float32[] rawLikelihoodValues
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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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#
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# For features2d : std::multimap<int, cv::Keypoint> words
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#
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int32[] refWordsKeys
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rtabmap/KeyPoint[] refWordsValues
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int32[] loopWordsKeys
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rtabmap/KeyPoint[] loopWordsValues |