feat(slam): add rtabmap_ros

2025-07-14 11:34:38 +08:00
parent 3b6641c1fb
commit 943ce5b06f
1635 changed files with 603092 additions and 0 deletions
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+#class rtabmap::Signature
+
+int32 id
+int32 map_id
+int32 weight
+float64 stamp
+string label
+
+# Pose from odometry not corrected
+geometry_msgs/Pose pose
+
+# std::multimap<wordId, index>
+# std::vector<cv::Keypoint>
+# std::vector<cv::Point3f>
+int32[] word_id_keys
+int32[] word_id_values
+KeyPoint[] word_kpts
+Point3f[] word_pts
+# compressed descriptors
+# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
+uint8[] word_descriptors
+
+SensorData data