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Added MRPT optional dependency. Updated localization_pose + its covariance to be always published.

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matlabbe
2023-02-03 17:25:38 -08:00
parent e4edee33eb
commit dcedd8bb6b
10 changed files with 120 additions and 67 deletions
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1
corelib/include/rtabmap/core/Rtabmap.h
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@@ -361,6 +361,7 @@ private:
Transform _mapCorrectionBackup; // used in localization mode when odom is lost
Transform _lastLocalizationPose; // Corrected odometry pose. In mapping mode, this corresponds to last pose return by getLocalOptimizedPoses().
int _lastLocalizationNodeId; // for localization mode
cv::Mat _localizationCovariance;
std::map<int, std::pair<cv::Point3d, Transform> > _gpsGeocentricCache;
bool _currentSessionHasGPS;
LaserScan _globalScanMap;

2
corelib/include/rtabmap/core/Statistics.h
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@@ -115,6 +115,8 @@ class RTABMAP_EXP Statistics
RTABMAP_STATS(Loop, MapToBase_roll, deg);
RTABMAP_STATS(Loop, MapToBase_pitch, deg);
RTABMAP_STATS(Loop, MapToBase_yaw, deg);
RTABMAP_STATS(Loop, MapToBase_lin_std, m);
RTABMAP_STATS(Loop, MapToBase_lin_var, m2);
RTABMAP_STATS(Proximity, Time_detections,);
RTABMAP_STATS(Proximity, Space_last_detection_id,);