From 232658fb4001b8f455c21af438b9f4e6b94a35e6 Mon Sep 17 00:00:00 2001 From: vividf Date: Wed, 17 Jul 2024 19:10:14 +0900 Subject: [PATCH] chore: keyframe markers and the Signed-off-by: vividf --- .../mapping_based_calibrator/README.md | 26 +++++++++---------- 1 file changed, 13 insertions(+), 13 deletions(-) diff --git a/calibrators/mapping_based_calibrator/README.md b/calibrators/mapping_based_calibrator/README.md index 92ff65c3..a4f13b75 100644 --- a/calibrators/mapping_based_calibrator/README.md +++ b/calibrators/mapping_based_calibrator/README.md @@ -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