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Merge branch 'master' of github.com:introlab/rtabmap_ros into ros2

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matlabbe
2025-03-01 16:18:10 -08:00
parent e561bd190f 12e61a952e
commit 5e22c31b7f
4 changed files with 41 additions and 6 deletions
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rtabmap_conversions/CMakeLists.txt
+1 -1
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@@ -19,7 +19,7 @@ find_package(tf2 REQUIRED)
find_package(tf2_eigen REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(RTABMap 0.21.5 REQUIRED)
find_package(RTABMap 0.21.11 REQUIRED)
include_directories(
${CMAKE_CURRENT_SOURCE_DIR}/include
rtabmap_conversions/src/MsgConversion.cpp
+6
View File
@@ -1620,6 +1620,8 @@ std::map<std::string, float> odomInfoToStatistics(const rtabmap::OdometryInfo &
stats.insert(std::make_pair("Odometry/LocalBundleOutliers/", info.localBundleOutliers));
stats.insert(std::make_pair("Odometry/LocalBundleConstraints/", info.localBundleConstraints));
stats.insert(std::make_pair("Odometry/LocalBundleTime/ms", info.localBundleTime*1000.0f));
stats.insert(std::make_pair("Odometry/localBundleAvgInlierDistance/pix", info.localBundleAvgInlierDistance));
stats.insert(std::make_pair("Odometry/localBundleMaxKeyFramesForInlier/", info.localBundleMaxKeyFramesForInlier));
stats.insert(std::make_pair("Odometry/KeyFrameAdded/", info.keyFrameAdded?1.0f:0.0f));
stats.insert(std::make_pair("Odometry/Interval/ms", (float)info.interval));
stats.insert(std::make_pair("Odometry/Distance/m", info.distanceTravelled));
@@ -1696,6 +1698,8 @@ rtabmap::OdometryInfo odomInfoFromROS(const rtabmap_msgs::msg::OdomInfo & msg, b
info.localBundleOutliers = msg.local_bundle_outliers;
info.localBundleConstraints = msg.local_bundle_constraints;
info.localBundleTime = msg.local_bundle_time;
info.localBundleAvgInlierDistance = msg.local_bundle_avg_inlier_distance;
info.localBundleMaxKeyFramesForInlier = msg.local_bundle_max_key_frames_for_inlier;
info.keyFrameAdded = msg.key_frame_added;
info.timeEstimation = msg.time_estimation;
info.timeParticleFiltering = msg.time_particle_filtering;
@@ -1776,6 +1780,8 @@ void odomInfoToROS(const rtabmap::OdometryInfo & info, rtabmap_msgs::msg::OdomIn
msg.local_bundle_outliers = info.localBundleOutliers;
msg.local_bundle_constraints = info.localBundleConstraints;
msg.local_bundle_time = info.localBundleTime;
msg.local_bundle_avg_inlier_distance = info.localBundleAvgInlierDistance;
msg.local_bundle_max_key_frames_for_inlier = info.localBundleMaxKeyFramesForInlier;
UASSERT(info.localBundleModels.size() == info.localBundlePoses.size());
for(std::map<int, std::vector<rtabmap::CameraModel> >::const_iterator iter=info.localBundleModels.begin();
iter!=info.localBundleModels.end();