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Updated OdomInfo msg with upstream new stats

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matlabbe
2025-02-21 16:31:16 -08:00
parent 59390d8199
commit 887695298a
2 changed files with 11 additions and 0 deletions
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rtabmap_conversions/src/MsgConversion.cpp
+9
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@@ -1598,6 +1598,11 @@ 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));
float32 localBundleAvgInlierDistance
int32 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));
@@ -1674,6 +1679,8 @@ rtabmap::OdometryInfo odomInfoFromROS(const rtabmap_msgs::OdomInfo & msg, bool i
info.localBundleOutliers = msg.localBundleOutliers;
info.localBundleConstraints = msg.localBundleConstraints;
info.localBundleTime = msg.localBundleTime;
info.localBundleAvgInlierDistance = msg.localBundleAvgInlierDistance;
info.localBundleMaxKeyFramesForInlier = msg.localBundleMaxKeyFramesForInlier;
UASSERT(msg.localBundleModels.size() == msg.localBundleIds.size());
UASSERT(msg.localBundleModels.size() == msg.localBundlePoses.size());
for(size_t i=0; i<msg.localBundleIds.size(); ++i)
@@ -1753,6 +1760,8 @@ void odomInfoToROS(const rtabmap::OdometryInfo & info, rtabmap_msgs::OdomInfo &
msg.localBundleOutliers = info.localBundleOutliers;
msg.localBundleConstraints = info.localBundleConstraints;
msg.localBundleTime = info.localBundleTime;
msg.localBundleAvgInlierDistance = info.localBundleAvgInlierDistance;
msg.localBundleMaxKeyFramesForInlier = 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();