i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-04 16:57:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

updated with upstream library changes

Browse Source
This commit is contained in:
Mathieu Labbe
2015-06-16 17:42:56 -04:00
parent 96d3ad35e2
commit e5c0c01acc
3 changed files with 32 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/MsgConversion.cpp
+17 -2
View File
@@ -551,8 +551,12 @@ rtabmap::OdometryInfo odomInfoFromROS(const rtabmap_ros::OdomInfo & msg)
info.features = msg.features;
info.inliers = msg.inliers;
info.localMapSize = msg.localMapSize;
info.time = msg.time;
info.timeEstimation = msg.timeEstimation;
info.variance = msg.variance;
info.timeParticleFiltering = msg.timeParticleFiltering;
info.stamp = msg.stamp;
info.interval = msg.interval;
info.distanceTravelled = msg.distanceTravelled;
info.type = msg.type;
@@ -569,6 +573,9 @@ rtabmap::OdometryInfo odomInfoFromROS(const rtabmap_ros::OdomInfo & msg)
info.newCorners = points2fFromROS(msg.newCorners);
info.cornerInliers = msg.cornerInliers;
info.transform = transformFromGeometryMsg(msg.transform);
info.transformFiltered = transformFromGeometryMsg(msg.transformFiltered);
return info;
}
@@ -579,8 +586,13 @@ void odomInfoToROS(const rtabmap::OdometryInfo & info, rtabmap_ros::OdomInfo & m
msg.features = info.features;
msg.inliers = info.inliers;
msg.localMapSize = info.localMapSize;
msg.time = info.time;
msg.timeEstimation = info.timeEstimation;
msg.variance = info.variance;
msg.timeParticleFiltering = info.timeParticleFiltering;
msg.stamp = info.stamp;
msg.interval = info.interval;
msg.distanceTravelled = info.distanceTravelled;
msg.type = info.type;
@@ -594,6 +606,9 @@ void odomInfoToROS(const rtabmap::OdometryInfo & info, rtabmap_ros::OdomInfo & m
points2fToROS(info.newCorners, msg.newCorners);
msg.cornerInliers = info.cornerInliers;
transformToGeometryMsg(info.transform, msg.transform);
transformToGeometryMsg(info.transformFiltered, msg.transformFiltered);
}
}
src/OdometryROS.cpp
+7
View File
@@ -157,6 +157,7 @@ OdometryROS::OdometryROS(int argc, char * argv[]) :
oldParameterNames.push_back("Odom/LocalHistory");
oldParameterNames.push_back("Odom/NearestNeighbor");
oldParameterNames.push_back("Odom/NNDR");
oldParameterNames.push_back("GFTT/MaxCorners");
for(std::list<std::string>::iterator iter=oldParameterNames.begin(); iter!=oldParameterNames.end(); ++iter)
{
std::string vStr;
@@ -192,6 +193,12 @@ OdometryROS::OdometryROS(int argc, char * argv[]) :
Parameters::kOdomBowNNDR().c_str());
parameters_.at(Parameters::kOdomBowNNDR())= vStr;
}
else if(iter->compare("GFTT/MaxCorners") == 0)
{
ROS_WARN("Parameter GFTT/MaxCorners doesn't exist anymore, use %s. Please update your launch file accordingly.",
Parameters::kOdomMaxFeatures().c_str());
parameters_.at(Parameters::kOdomMaxFeatures())= vStr;
}
}
}