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 words; # std::vector wordMatches; # std::vector 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 ref_corners; # std::vector new_corners; # std::vector corner_inliers; Point2f[] ref_corners Point2f[] new_corners int32[] corner_inliers