cob_object_detection_msgs/BaTestEnvironment Service

# ROS service for testing sparce Bundle Adjustment
# parameter for testdata structure
int32 number_points
float32 frame_view_number
float32 cone_points_per_plane 

# perameter to describe errors
float32 limit_error_matching

float32 ba_kernel_param
int32 ba_num_iter
float32 ba_initial_mu
float32 ba_final_mu_factor
float32 ba_tau

float32 angle_sigma_degree
float32 translate_sigma_m
float32 obs_point_sigma_m
float32 world_point_sigma_m

---
float32 mean_error
float32 std_dev
float32 min_error
float32 max_error
float32 runs_count
float32 runs_sum
float32 runs_sum2

float32 time_duration
int32 observations
int32 false_matchings

std_msgs/String result