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chore: keyframe markers and the
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Signed-off-by: vividf <yihsiang.fang@tier4.jp>
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vividf committed Jul 17, 2024
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Expand Up @@ -79,19 +79,19 @@ The transformation between the lidar and the ground pose is calculated by utiliz

### Output

| Name | Type | Description |
| --------------------------------- | -------------------------------------- | -------------------------------------------------------------------------------------------------------------- |
| `output_map` | `sensor_msgs::msg::PointCloud2` | Output map constructed from the `mapping_pointcloud`. |
| `frame_path` | `nav_msgs::msg::Path` | The actual path of the `mapping_pointcloud`. |
| `frame_predicted_path` | `nav_msgs::msg::Path` | The predicted path of the`mapping_pointcloud`. |
| `keyframe_path` | `nav_msgs::msg::Path` | The keyframe path of the `mapping_pointcloud`. |
| `keyframe_markers` | `visualization_msgs::msg::MarkerArray` | Markers for keyframes. |
| `initial_source_aligned_map` | `sensor_msgs::msg::PointCloud2` | Initial map from calibration lidars. |
| `calibrated_source_aligned_map` | `sensor_msgs::msg::PointCloud2` | Calibrated map from calibration lidars. |
| `target_map` | `sensor_msgs::msg::PointCloud2` | Target map from `mapping lidar`, used for comparing with the `calibrated_source_aligned_map` and `target_map`. |
| `target_markers` | `visualization_msgs::msg::MarkerArray` | Markers for camera calibrator (currently not used). |
| `base_lidar_augmented_pointcloud` | `sensor_msgs::msg::PointCloud2` | Ground pointcloud from augmented pointcloud. |
| `ground_pointcloud` | `sensor_msgs::msg::PointCloud2` | Ground pointcloud from calibrated pointcloud. |
| Name | Type | Description |
| --------------------------------- | -------------------------------------- | ------------------------------------------------------------------------------------------------- |
| `output_map` | `sensor_msgs::msg::PointCloud2` | Output map constructed from the `mapping_pointcloud`. |
| `frame_path` | `nav_msgs::msg::Path` | The actual path of the `mapping_pointcloud`. |
| `frame_predicted_path` | `nav_msgs::msg::Path` | The predicted path of the `mapping_pointcloud`. |
| `keyframe_path` | `nav_msgs::msg::Path` | The keyframe path of the `mapping_pointcloud`. |
| `keyframe_markers` | `visualization_msgs::msg::MarkerArray` | Keyframe markers. |
| `initial_source_aligned_map` | `sensor_msgs::msg::PointCloud2` | Initial map from calibration lidars. |
| `calibrated_source_aligned_map` | `sensor_msgs::msg::PointCloud2` | Calibrated map from calibration lidars. |
| `target_map` | `sensor_msgs::msg::PointCloud2` | Target map from the `mapping lidar`, used for comparing with the `calibrated_source_aligned_map`. |
| `target_markers` | `visualization_msgs::msg::MarkerArray` | Markers for the camera calibrator (currently not used). |
| `base_lidar_augmented_pointcloud` | `sensor_msgs::msg::PointCloud2` | The ground pointcloud from the augmented pointcloud. |
| `ground_pointcloud` | `sensor_msgs::msg::PointCloud2` | The ground pointcloud from the calibrated pointcloud. |

### Services

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