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- # Cloud Info
- Header header
- int32[] startRingIndex
- int32[] endRingIndex
- int32[] pointColInd # point column index in range image
- float32[] pointRange # point range
- int64 imuAvailable
- int64 odomAvailable
- # Attitude for LOAM initialization
- float32 imuRollInit
- float32 imuPitchInit
- float32 imuYawInit
- # Initial guess from imu pre-integration
- float32 initialGuessX
- float32 initialGuessY
- float32 initialGuessZ
- float32 initialGuessRoll
- float32 initialGuessPitch
- float32 initialGuessYaw
- # Point cloud messages
- sensor_msgs/PointCloud2 cloud_deskewed # original cloud deskewed
- sensor_msgs/PointCloud2 cloud_corner # extracted corner feature
- sensor_msgs/PointCloud2 cloud_surface # extracted surface feature
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