mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
matlabbe
20c5211143
rgbd_sync and rtabmap.launch: added depth_scale parameter. Updated OdomInfo msg with memoryUsage field. CoreWrapper: supporting GridGlobal/MaxNodes parameter, added "RtabmapROS" statistics. MapsManager: updated when occupancy grid is updated.
56 lines
1.1 KiB
Plaintext
56 lines
1.1 KiB
Plaintext
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Header header
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bool lost
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int32 matches
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int32 inliers
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float32 icpInliersRatio
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float32 icpRotation
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float32 icpTranslation
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float32 icpStructuralComplexity
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float64[36] covariance
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int32 features
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int32 localMapSize
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int32 localScanMapSize
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int32 localKeyFrames
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int32 localBundleOutliers
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int32 localBundleConstraints
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float32 localBundleTime
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bool keyFrameAdded
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float32 timeEstimation
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float32 timeParticleFiltering
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float32 stamp
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float32 interval
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float32 distanceTravelled
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int32 memoryUsage # MB
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geometry_msgs/Transform transform
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geometry_msgs/Transform transformFiltered
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# 0=F2M, 1=F2F
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int32 type
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# F2M odometry
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# std::multimap<int, cv::KeyPoint> words;
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# std::vector<int> wordMatches;
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# std::vector<int> wordInliers;
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int32[] wordsKeys
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KeyPoint[] wordsValues
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int32[] wordMatches
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int32[] wordInliers
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int32[] localMapKeys
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Point3f[] localMapValues
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# compressed local scan map data
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# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
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uint8[] localScanMap
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# F2F odometry
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# std::vector<cv::Point2f> refCorners;
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# std::vector<cv::Point2f> newCorners;
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# std::vector<int> cornerInliers;
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Point2f[] refCorners
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Point2f[] newCorners
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int32[] cornerInliers
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