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Updated OdomInfo msg

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matlabbe
2017-04-02 17:44:40 -04:00
parent ed3508fe4b
commit 14f85833b3
2 changed files with 42 additions and 39 deletions
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src/MsgConversion.cpp
+20 -8
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@@ -874,13 +874,19 @@ rtabmap::OdometryInfo odomInfoFromROS(const rtabmap_ros::OdomInfo & msg)
rtabmap::OdometryInfo info;
info.lost = msg.lost;
info.matches = msg.matches;
info.features = msg.features;
info.inliers = msg.inliers;
info.localMapSize = msg.localMapSize;
info.localScanMapSize = msg.localScanMapSize;
info.timeEstimation = msg.timeEstimation;
info.icpInliersRatio = msg.icpInliersRatio;
info.varianceLin = msg.varianceLin;
info.varianceAng = msg.varianceAng;
info.features = msg.features;
info.localMapSize = msg.localMapSize;
info.localScanMapSize = msg.localScanMapSize;
info.localKeyFrames = msg.localKeyFrames;
info.localBundleOutliers = msg.localBundleOutliers;
info.localBundleConstraints = msg.localBundleConstraints;
info.localBundleTime = msg.localBundleTime;
info.keyFrameAdded = msg.keyFrameAdded;
info.timeEstimation = msg.timeEstimation;
info.timeParticleFiltering = msg.timeParticleFiltering;
info.stamp = msg.stamp;
info.interval = msg.interval;
@@ -919,13 +925,19 @@ void odomInfoToROS(const rtabmap::OdometryInfo & info, rtabmap_ros::OdomInfo & m
{
msg.lost = info.lost;
msg.matches = info.matches;
msg.features = info.features;
msg.inliers = info.inliers;
msg.localMapSize = info.localMapSize;
msg.localScanMapSize = info.localScanMapSize;
msg.timeEstimation = info.timeEstimation;
msg.icpInliersRatio = info.icpInliersRatio;
msg.varianceLin = info.varianceLin;
msg.varianceAng = info.varianceAng;
msg.features = info.features;
msg.localMapSize = info.localMapSize;
msg.localScanMapSize = info.localScanMapSize;
msg.localKeyFrames = info.localKeyFrames;
msg.localBundleOutliers = info.localBundleOutliers;
msg.localBundleConstraints = info.localBundleConstraints;
msg.localBundleTime = info.localBundleTime;
msg.keyFrameAdded = info.keyFrameAdded;
msg.timeEstimation = info.timeEstimation;
msg.timeParticleFiltering = info.timeParticleFiltering;
msg.stamp = info.stamp;
msg.interval = info.interval;