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
@@ -0,0 +1,72 @@
+
+std_msgs/Header header
+
+bool lost
+int32 matches
+int32 inliers
+float32 icp_inliers_ratio
+float32 icp_rotation
+float32 icp_translation
+float32 icp_structural_complexity
+float32 icp_structural_distribution
+int32 icp_correspondences
+float64[36] covariance
+int32 features
+int32 local_map_size
+int32 local_scan_map_size
+int32 local_key_frames
+int32 local_bundle_outliers
+int32 local_bundle_constraints
+float32 local_bundle_time
+float32 local_bundle_avg_inlier_distance
+int32 local_bundle_max_key_frames_for_inlier
+bool key_frame_added
+float32 time_estimation
+float32 time_particle_filtering
+float32 stamp
+float32 interval
+float32 distance_travelled
+int32 memory_usage # MB
+
+float32 gravity_roll_error
+float32 gravity_pitch_error
+
+# Local bundle camera ids
+int32[] local_bundle_ids
+
+# Local bundle camera models
+CameraModels[] local_bundle_models
+
+# Local bundle camera poses
+geometry_msgs/Pose[] local_bundle_poses
+
+geometry_msgs/Transform transform
+geometry_msgs/Transform transform_filtered
+geometry_msgs/Transform transform_ground_truth
+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[] words_keys
+KeyPoint[] words_values
+int32[] word_matches
+int32[] word_inliers
+int32[] local_map_keys
+Point3f[] local_map_values
+
+# local scan map data
+sensor_msgs/PointCloud2 local_scan_map
+
+# F2F odometry
+#   std::vector<cv::Point2f> ref_corners;
+#   std::vector<cv::Point2f> new_corners;
+#   std::vector<int> corner_inliers;
+Point2f[] ref_corners
+Point2f[] new_corners
+int32[] corner_inliers
+