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NodeData.msg
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NodeData.msg
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int32 id
int32 mapId
int32 weight
float64 stamp
string label
# Pose from odometry not corrected
geometry_msgs/Pose pose
# Ground truth (optional)
geometry_msgs/Pose groundTruthPose
# compressed image in /camera_link frame
# use rtabmap::util3d::uncompressImage() from "rtabmap/core/util3d.h"
uint8[] image
# compressed depth image in /camera_link frame
# use rtabmap::util3d::uncompressImage() from "rtabmap/core/util3d.h"
uint8[] depth
# Camera models
float32[] fx
float32[] fy
float32[] cx
float32[] cy
float32 baseline
# local transform (/base_link -> /camera_link)
geometry_msgs/Transform[] localTransform
# compressed 2D laser scan in /base_link frame
# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
uint8[] laserScan
int32 laserScanMaxPts
float32 laserScanMaxRange
# compressed user data
# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
uint8[] userData
# std::multimap<wordId, cv::Keypoint>
# std::multimap<wordId, pcl::PointXYZ>
int32[] wordIds
KeyPoint[] wordKpts
sensor_msgs/PointCloud2 wordPts
# compressed descriptors
# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
uint8[] descriptors