rtabmap_ros/Info Message

File: rtabmap_ros/Info.msg

Raw Message Definition


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# RTAB-Map info with statistics 
########################################

Header header

int32 refId
int32 loopClosureId
int32 proximityDetectionId

geometry_msgs/Transform loopClosureTransform

####
# For statistics...
####
# std::map posterior;
int32[] posteriorKeys
float32[] posteriorValues

# std::map likelihood;
int32[] likelihoodKeys
float32[] likelihoodValues

# std::map rawLikelihood;
int32[] rawLikelihoodKeys
float32[] rawLikelihoodValues

# std::map weights;
int32[] weightsKeys
int32[] weightsValues

# std::map labels;
int32[] labelsKeys
string[] labelsValues

# std::map stats
string[] statsKeys
float32[] statsValues

# std::vector localPath
int32[] localPath
int32 currentGoalId

Compact Message Definition

std_msgs/Header header
int32 refId
int32 loopClosureId
int32 proximityDetectionId
geometry_msgs/Transform loopClosureTransform
int32[] posteriorKeys
float32[] posteriorValues
int32[] likelihoodKeys
float32[] likelihoodValues
int32[] rawLikelihoodKeys
float32[] rawLikelihoodValues
int32[] weightsKeys
int32[] weightsValues
int32[] labelsKeys
string[] labelsValues
string[] statsKeys
float32[] statsValues
int32[] localPath
int32 currentGoalId