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https://github.com/introlab/rtabmap_ros.git
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matlabbe
cf7d7ab958
* Supporting ros depth compression formats passthrough * Added image_compression_format (support jpg,png). Use Compression.h constants. * Bridging gap with #1457 * CoreWrapper: decode_images_on_demand * rgbd_sync->rgbd_split encoding/decoding test with image_transport validation. rgbd_split color passthrough * more tests * fixing ci on kilted+ * fixing test * fixing lyrical tests * fixing rolling ci * Improved test coverage * fixing some tf waitForTransform deadlocks when sim time is used in tests * CI: build rtabmap_slam on rolling rtabmap_slam builds without nav2_msgs, which is not on resolute yet: skip its key instead of leaving the package out. Only rtabmap_costmap_plugins (and the rtabmap_ros metapackage pulling it in) still need nav2.
24 lines
453 B
Plaintext
24 lines
453 B
Plaintext
#class rtabmap::Signature
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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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# 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::uncompressData() from "rtabmap/core/Compression.h"
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uint8[] word_descriptors
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SensorData data
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