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Info msg: added landmarkId field for convenience

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matlabbe
2020-09-15 17:45:00 -04:00
parent cdc38640ec
commit 58dd3134be
2 changed files with 2 additions and 0 deletions
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msg/Info.msg
+1
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@@ -8,6 +8,7 @@ Header header
int32 refId int32 refId
int32 loopClosureId int32 loopClosureId
int32 proximityDetectionId int32 proximityDetectionId
int32 landmarkId
geometry_msgs/Transform loopClosureTransform geometry_msgs/Transform loopClosureTransform
src/MsgConversion.cpp
+1
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@@ -445,6 +445,7 @@ void infoToROS(const rtabmap::Statistics & stats, rtabmap_ros::Info & info)
info.refId = stats.refImageId(); info.refId = stats.refImageId();
info.loopClosureId = stats.loopClosureId(); info.loopClosureId = stats.loopClosureId();
info.proximityDetectionId = stats.proximityDetectionId(); info.proximityDetectionId = stats.proximityDetectionId();
info.landmarkId = static_cast<int>(uValue(stats.data(), rtabmap::Statistics::kLoopLandmark_detected(), 0.0f));
rtabmap_ros::transformToGeometryMsg(stats.loopClosureTransform(), info.loopClosureTransform); rtabmap_ros::transformToGeometryMsg(stats.loopClosureTransform(), info.loopClosureTransform);