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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+
+std_msgs/Header header
+
+# For stereo, rgb corresponds to left camera, and depth the right camera.
+
+# camera info
+sensor_msgs/CameraInfo rgb_camera_info
+sensor_msgs/CameraInfo depth_camera_info
+
+# Raw
+sensor_msgs/Image rgb
+sensor_msgs/Image depth
+
+# Compressed
+sensor_msgs/CompressedImage rgb_compressed
+sensor_msgs/CompressedImage depth_compressed
+
+# Local features
+KeyPoint[] key_points
+Point3f[] points
+# compressed descriptors
+# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
+uint8[] descriptors
+
+GlobalDescriptor global_descriptor