X-lanni
67 lines
1.6 KiB
Plaintext
67 lines
1.6 KiB
Plaintext
#class rtabmap::SensorData
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std_msgs/Header header
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# For RGB-D, left corresponds to rgb camera, and right corresponds to depth camera.
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# Raw images
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sensor_msgs/Image left
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sensor_msgs/Image right
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# Compressed images
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# use rtabmap::util3d::uncompressImage() from "rtabmap/core/util3d.h"
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uint8[] left_compressed
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uint8[] right_compressed
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# Camera info
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sensor_msgs/CameraInfo[] left_camera_info
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sensor_msgs/CameraInfo[] right_camera_info
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# Transform from base frame to camera frame
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geometry_msgs/Transform[] local_transform
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# raw 2d or 3D laser scan
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sensor_msgs/PointCloud2 laser_scan
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# compressed 2D or 3D laser scan
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# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
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uint8[] laser_scan_compressed
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int32 laser_scan_max_pts
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float32 laser_scan_max_range
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int32 laser_scan_format
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# local transform (base frame -> laser frame)
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geometry_msgs/Transform laser_scan_local_transform
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# compressed user data
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# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
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uint8[] user_data
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# compressed occupancy grid
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# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
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uint8[] grid_ground
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uint8[] grid_obstacles
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uint8[] grid_empty_cells
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float32 grid_cell_size
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Point3f grid_view_point
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# Local features
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KeyPoint[] key_points
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Point3f[] points
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# compressed descriptors
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# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
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uint8[] descriptors
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GlobalDescriptor[] global_descriptors
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EnvSensor[] env_sensors
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sensor_msgs/Imu imu
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geometry_msgs/Transform imu_local_transform
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LandmarkDetection[] landmarks
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# Ground truth
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geometry_msgs/Pose ground_truth_pose
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# GPS
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GPS gps
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