Updated OdomInfo msg

msg/OdomInfo.msg

@@ -1,46 +1,36 @@
 
 Header header
 
-#class rtabmap::OdometryInfo
-#{
-#    bool lost;
-#    int matches;
-#    int inliers;
-#    float varianceLin;
-#    float varianceAng;
-#    int features;
-#    int localMapSize;
-#    float time;
-#
-#    int type; // 0=BOW, 1=Optical Flow, 2=ICP
-#
-#    // BOW odometry
-#    std::multimap<int, cv::KeyPoint> words;
-#    std::vector<int> wordMatches;
-#    std::vector<int> wordInliers;
-#
-#    // Optical Flow odometry
-#    std::vector<cv::Point2f> refCorners;
-#    std::vector<cv::Point2f> newCorners;
-#    std::vector<int> cornerInliers;
-#}
-
 bool lost
 int32 matches
 int32 inliers
+float32 icpInliersRatio
 float32 varianceLin
 float32 varianceAng
 int32 features
 int32 localMapSize
 int32 localScanMapSize
+int32 localKeyFrames
+int32 localBundleOutliers
+int32 localBundleConstraints
+float32 localBundleTime
+bool keyFrameAdded
 float32 timeEstimation
 float32 timeParticleFiltering
 float32 stamp
 float32 interval
 float32 distanceTravelled
 
+geometry_msgs/Transform transform
+geometry_msgs/Transform transformFiltered
+
+# 0=F2M, 1=F2F
 int32 type
 
+# F2M odometry
+#   std::multimap<int, cv::KeyPoint> words;
+#   std::vector<int> wordMatches;
+#   std::vector<int> wordInliers;
 int32[] wordsKeys
 KeyPoint[] wordsValues
 int32[] wordMatches
@@ -48,14 +38,15 @@ int32[] wordInliers
 int32[] localMapKeys
 Point3f[] localMapValues
 
-Point2f[] refCorners
-Point2f[] newCorners
-int32[] cornerInliers
-
-geometry_msgs/Transform transform
-geometry_msgs/Transform transformFiltered
-
 # compressed local scan map data
 # use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
 uint8[] localScanMap
 
+# F2F odometry
+#   std::vector<cv::Point2f> refCorners;
+#   std::vector<cv::Point2f> newCorners;
+#   std::vector<int> cornerInliers;
+Point2f[] refCorners
+Point2f[] newCorners
+int32[] cornerInliers
+

src/MsgConversion.cpp

@@ -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.icpInliersRatio = msg.icpInliersRatio;
-	info.localScanMapSize = msg.localScanMapSize;
-	info.timeEstimation = msg.timeEstimation;
 	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.icpInliersRatio = info.icpInliersRatio;
-	msg.localScanMapSize = info.localScanMapSize;
-	msg.timeEstimation = info.timeEstimation;
 	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;