mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-05 17:27:46 +08:00
matlabbe
ae19ddf5af
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1682 f169173b-cf89-36c8-b27e-44dbe73f0c83
56 lines
1.1 KiB
Plaintext
56 lines
1.1 KiB
Plaintext
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Header header
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# Map ids std::map<nodeId, mapId>
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int32[] mapIDs
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int32[] maps
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# compressed images
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# use rtabmap::util3d::uncompressImage() from <rtabmap/core/util3d.h>
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# std::map<int, uint8[]> images;
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int32[] imageIDs
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rtabmap/Bytes[] images
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# compressed depth images
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# use rtabmap::util3d::uncompressImage() from <rtabmap/core/util3d.h>
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# std::map<int, uint8[]> depths;
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int32[] depthIDs
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rtabmap/Bytes[] depths
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# compressed 2D point clouds (laser scans)
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# use rtabmap::util3d::uncompressData() from <rtabmap/core/util3d.h>
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# std::map<int, uint8[]> depths2d;
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int32[] depth2DIDs
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rtabmap/Bytes[] depth2Ds
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# depth fx
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int32[] depthFxIDs
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float32[] depthFxs
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# depth fy
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int32[] depthFyIDs
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float32[] depthFys
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# depth cx
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int32[] depthCxIDs
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float32[] depthCxs
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# depth cy
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int32[] depthCyIDs
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float32[] depthCys
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# local transforms
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int32[] localTransformIDs
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geometry_msgs/Transform[] localTransforms
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# std::map<int, Pose> poses;
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int32[] poseIDs
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geometry_msgs/Pose[] poses
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# std::multimap<int, Link> constraints;
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int32[] constraintFromIDs
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int32[] constraintToIDs
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int32[] constraintTypes
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geometry_msgs/Transform[] constraints
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