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Fixed build with latest rtabmap version

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matlabbe
2025-05-26 16:00:16 -07:00
parent 6c6c41a7e2
commit 43d360ebb3
1 changed files with 2 additions and 3 deletions
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rtabmap_conversions/src/MsgConversion.cpp
+2 -3
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@@ -1652,9 +1652,8 @@ std::map<std::string, float> odomInfoToStatistics(const rtabmap::OdometryInfo &
{ {
if(!info.transform.isNull()) if(!info.transform.isNull())
{ {
rtabmap::Transform diff = info.transformGroundTruth.inverse()*info.transform; stats.insert(std::make_pair("Odometry/TG_error_lin/m", info.transformGroundTruth.getDistance(info.transform)));
stats.insert(std::make_pair("Odometry/TG_error_lin/m", diff.getNorm())); stats.insert(std::make_pair("Odometry/TG_error_ang/deg", info.transformGroundTruth.getAngle(info.transform)*180.0/CV_PI));
stats.insert(std::make_pair("Odometry/TG_error_ang/deg", diff.getAngle()*180.0/CV_PI));
} }
info.transformGroundTruth.getTranslationAndEulerAngles(x,y,z,roll,pitch,yaw); info.transformGroundTruth.getTranslationAndEulerAngles(x,y,z,roll,pitch,yaw);