Integrate MACSLAM Map v3 with passive pipeline - #3
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Pull request overview
Updates the ROS2 torch coordinator wrapper and configuration to work with MACSLAM Map v3, including publishing dense map points with per-point covariance in the current camera frame for downstream passive mapping / BEV consumers.
Changes:
- Refactors
mac_ros2/MACVO_torch.pyto use Map v3 data structures, transform dense map points into the current camera frame, and publish covariance alongside color. - Updates
mac_ros2/config/offroad_thermal.yamlto the Map v3 configuration schema and adds adapter-owned settings (resize + bounded-map reset interval). - Switches the
mac_ros2/mac_slamsubmodule remote URL.
Reviewed changes
Copilot reviewed 4 out of 4 changed files in this pull request and generated 3 comments.
| File | Description |
|---|---|
| mac_ros2/MACVO_torch.py | Adapt coordinator wrapper to Map v3 API; extract/transform dense mapping points + covariance in camera frame; add bounded-map reset logic. |
| mac_ros2/config/offroad_thermal.yaml | Migrate thermal config to Map v3 schema and add Adapter settings used by the wrapper. |
| .gitmodules | Update MACSLAM submodule remote URL. |
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| published_frame_id = self.frame_id - 1 | ||
| if self._last_published_frame_id == published_frame_id: | ||
| assert self._cached_output is not None | ||
| return self._cached_output |
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| MACVO.is_valid_config(cfg.Odometry) | ||
| assert isinstance(cfg.Adapter.map_reset_interval, int), ( | ||
| "Adapter.map_reset_interval must be an integer" | ||
| ) | ||
| assert cfg.Adapter.map_reset_interval >= 0, ( | ||
| "Adapter.map_reset_interval must be a non-negative integer" | ||
| ) |
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| [submodule "mac_ros2/mac_slam"] | ||
| path = mac_ros2/mac_slam | ||
| url = git@github.com:castacks/MAC-SLAM-Stable.git | ||
| url = git@github.com:MAC-VO/MACSLAM-internal.git |
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Summary
mac_ros2/MACVO_torch.pymac_ros2/config/offroad_thermal.yaml: Adapt the thermal MACVO configuration to the Map v3 schema.Why
The previous ROS adapter targeted the old MACVO graph API. The passive mapping pipeline also needs point covariance so downstream BEV processing can optionally account for positional uncertainty.