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Updated OdomInfo msg to include inliers/outliers data, updated default launch files

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Mathieu Labbe
2015-01-23 15:18:06 -05:00
parent 92c30adad8
commit 4ae2cedc00
11 changed files with 251 additions and 59 deletions
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include/rtabmap_ros/MsgConversion.h
+3
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@@ -69,6 +69,9 @@ void linkToROS(const rtabmap::Link & link, rtabmap_ros::Link & msg);
cv::KeyPoint keypointFromROS(const rtabmap_ros::KeyPoint & msg);
void keypointToROS(const cv::KeyPoint & kpt, rtabmap_ros::KeyPoint & msg);
std::vector<cv::KeyPoint> keypointsFromROS(const std::vector<rtabmap_ros::KeyPoint> & msg);
void keypointsToROS(const std::vector<cv::KeyPoint> & kpts, std::vector<rtabmap_ros::KeyPoint> & msg);
void mapGraphFromROS(
const rtabmap_ros::Graph & msg,
std::map<int, rtabmap::Transform> & poses,