mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
63 lines
1.3 KiB
Plaintext
63 lines
1.3 KiB
Plaintext
|
|
Header header
|
|
|
|
bool lost
|
|
int32 matches
|
|
int32 inliers
|
|
float32 icpInliersRatio
|
|
float32 icpRotation
|
|
float32 icpTranslation
|
|
float32 icpStructuralComplexity
|
|
float32 icpStructuralDistribution
|
|
int32 icpCorrespondences
|
|
float64[36] covariance
|
|
int32 features
|
|
int32 localMapSize
|
|
int32 localScanMapSize
|
|
int32 localKeyFrames
|
|
int32 localBundleOutliers
|
|
int32 localBundleConstraints
|
|
float32 localBundleTime
|
|
bool keyFrameAdded
|
|
float32 timeEstimation
|
|
float32 timeParticleFiltering
|
|
float32 stamp
|
|
float32 interval
|
|
float32 distanceTravelled
|
|
int32 memoryUsage # MB
|
|
float32 gravityRollError
|
|
float32 gravityPitchError
|
|
|
|
geometry_msgs/Transform transform
|
|
geometry_msgs/Transform transformFiltered
|
|
geometry_msgs/Transform transformGroundTruth
|
|
geometry_msgs/Transform guess
|
|
|
|
# 0=F2M, 1=F2F
|
|
int32 type
|
|
|
|
# F2M odometry
|
|
# std::multimap<int, cv::KeyPoint> words;
|
|
# std::vector<int> wordMatches;
|
|
# std::vector<int> wordInliers;
|
|
int32[] wordsKeys
|
|
KeyPoint[] wordsValues
|
|
int32[] wordMatches
|
|
int32[] wordInliers
|
|
int32[] localMapKeys
|
|
Point3f[] localMapValues
|
|
|
|
# compressed local scan map data
|
|
# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
|
|
uint8[] localScanMap
|
|
int32 localScanMapFormat
|
|
|
|
# F2F odometry
|
|
# std::vector<cv::Point2f> refCorners;
|
|
# std::vector<cv::Point2f> newCorners;
|
|
# std::vector<int> cornerInliers;
|
|
Point2f[] refCorners
|
|
Point2f[] newCorners
|
|
int32[] cornerInliers
|
|
|