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[ROS][fix] Fix pose comparison with reference for slam test

Tong Fu requested to merge ROS/fix/FixCounterDropFrame into master


Previously, NbFramesDropped increases when a frame of current slam result is not presented in reference frame. However, we'd like to detect dropped frame in current slam result w.r.t reference result.


  • When comparing reference result with current slam result:
    • if a frame is not in reference result, a warning information is displayed
    • if a frame is not in current slam result w.r.t reference, consider it as a dropped frame, increase counter NbFramesDropped
  • The comparison of the position difference and angle difference is based on relative transform between 2 frames.
  • Frames need to have the same timestamp between reference and current slam result.
Edited by Julia Sanchez

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