X-lanni
73 lines
1.6 KiB
Plaintext
73 lines
1.6 KiB
Plaintext
|
|
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
|
|
|