rtabmap_ros/OdomInfo Message

File: rtabmap_ros/OdomInfo.msg

Raw Message Definition


Header header

bool lost
int32 matches
int32 inliers
float32 icpInliersRatio
float32 icpRotation
float32 icpTranslation
float32 icpStructuralComplexity
float32 icpStructuralDistribution
int32 icpCorrespondences
float64[36] covariance
int32 features
int32 localMapSize
int32 localScanMapSize
int32 localKeyFrames
int32 localBundleOutliers
int32 localBundleConstraints
float32 localBundleTime
bool keyFrameAdded
float32 timeEstimation
float32 timeParticleFiltering
float32 stamp
float32 interval
float32 distanceTravelled
int32 memoryUsage # MB
float32 gravityRollError
float32 gravityPitchError

geometry_msgs/Transform transform
geometry_msgs/Transform transformFiltered
geometry_msgs/Transform transformGroundTruth
geometry_msgs/Transform guess

# 0=F2M, 1=F2F
int32 type

# F2M odometry
#   std::multimap words;
#   std::vector wordMatches;
#   std::vector wordInliers;
int32[] wordsKeys
KeyPoint[] wordsValues
int32[] wordMatches
int32[] wordInliers
int32[] localMapKeys
Point3f[] localMapValues

# compressed local scan map data
# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
uint8[] localScanMap
int32 localScanMapFormat

# F2F odometry
#   std::vector refCorners;
#   std::vector newCorners;
#   std::vector cornerInliers;
Point2f[] refCorners
Point2f[] newCorners
int32[] cornerInliers


Compact Message Definition

std_msgs/Header header
bool lost
int32 matches
int32 inliers
float32 icpInliersRatio
float32 icpRotation
float32 icpTranslation
float32 icpStructuralComplexity
float32 icpStructuralDistribution
int32 icpCorrespondences
float64[36] covariance
int32 features
int32 localMapSize
int32 localScanMapSize
int32 localKeyFrames
int32 localBundleOutliers
int32 localBundleConstraints
float32 localBundleTime
bool keyFrameAdded
float32 timeEstimation
float32 timeParticleFiltering
float32 stamp
float32 interval
float32 distanceTravelled
int32 memoryUsage
float32 gravityRollError
float32 gravityPitchError
geometry_msgs/Transform transform
geometry_msgs/Transform transformFiltered
geometry_msgs/Transform transformGroundTruth
geometry_msgs/Transform guess
int32 type
int32[] wordsKeys
rtabmap_ros/KeyPoint[] wordsValues
int32[] wordMatches
int32[] wordInliers
int32[] localMapKeys
rtabmap_ros/Point3f[] localMapValues
uint8[] localScanMap
int32 localScanMapFormat
rtabmap_ros/Point2f[] refCorners
rtabmap_ros/Point2f[] newCorners
int32[] cornerInliers