Publisher.hpp

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/*********************************************************************************
 *  OKVIS - Open Keyframe-based Visual-Inertial SLAM
 *  Copyright (c) 2015, Autonomous Systems Lab / ETH Zurich
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions are met:
 * 
 *   * Redistributions of source code must retain the above copyright notice,
 *     this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above copyright notice,
 *     this list of conditions and the following disclaimer in the documentation
 *     and/or other materials provided with the distribution.
 *   * Neither the name of Autonomous Systems Lab / ETH Zurich nor the names of
 *     its contributors may be used to endorse or promote products derived from
 *     this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 *  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 *  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 *  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 *  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 *  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 *  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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 *
 *  Created on: Apr 17, 2012
 *      Author: Stefan Leutenegger (s.leutenegger@imperial.ac.uk)
 *    Modified: Andreas Forster (an.forster@gmail.com)
 *********************************************************************************/

#ifndef INCLUDE_OKVIS_PUBLISHER_HPP_
#define INCLUDE_OKVIS_PUBLISHER_HPP_

#include <fstream>
#include <memory>

#include <pcl/point_types.h>

#include <geometry_msgs/PoseStamped.h>
#include <sensor_msgs/PointCloud2.h>
#include <visualization_msgs/Marker.h>
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wnon-virtual-dtor"
#include <opencv2/core/core.hpp>
#include <ros/ros.h>
#include <tf/transform_broadcaster.h>
#include <pcl_ros/point_cloud.h>
#pragma GCC diagnostic pop
#include <nav_msgs/Odometry.h>
#include <nav_msgs/Path.h>
#include <image_transport/image_transport.h>

#include <okvis/kinematics/Transformation.hpp>
#include <okvis/Parameters.hpp>
#include <okvis/FrameTypedefs.hpp>
#include <okvis/Time.hpp>

namespace okvis {

class Publisher
{
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 public:

  Publisher();
  ~Publisher();

  Publisher(ros::NodeHandle& nh);


  void setNodeHandle(ros::NodeHandle& nh);

  bool setCsvFile(std::fstream& csvFile);
  bool setCsvFile(std::string& csvFileName);
  bool setCsvFile(std::string csvFileName);

  bool setLandmarksCsvFile(std::fstream& csvFile);
  bool setLandmarksCsvFile(std::string& csvFileName);
  bool setLandmarksCsvFile(std::string csvFileName);

  void setPose(const okvis::kinematics::Transformation& T_WS);

  void setOdometry(const okvis::kinematics::Transformation& T_WS,
                   const okvis::SpeedAndBiases& speedAndBiases,
                   const Eigen::Vector3d& omega_S);

  void setParameters(const okvis::VioParameters & parameters){
    parameters_ = parameters;
  }

  void setPoints(const okvis::MapPointVector& pointsMatched,
                 const okvis::MapPointVector& pointsUnmatched,
                 const okvis::MapPointVector& pointsTransferred);

  void setTime(const okvis::Time& t)
  {
    _t = ros::Time(t.sec, t.nsec);
  }

  void setImages(const std::vector<cv::Mat> & images);

  void setPath(const okvis::kinematics::Transformation& T_WS);


  void publishPose();
  void publishTransform();

  void publishStateAsCallback(const okvis::Time & t,
                              const okvis::kinematics::Transformation & T_WS);

  void publishFullStateAsCallback(
      const okvis::Time & t, const okvis::kinematics::Transformation & T_WS,
      const Eigen::Matrix<double, 9, 1> & speedAndBiases,
      const Eigen::Matrix<double, 3, 1> & omega_S);

  void publishLandmarksAsCallback(
      const okvis::Time & t, const okvis::MapPointVector & actualLandmarks,
      const okvis::MapPointVector & transferredLandmarks);

  void csvSaveFullStateAsCallback(
      const okvis::Time & t, const okvis::kinematics::Transformation & T_WS,
      const Eigen::Matrix<double, 9, 1> & speedAndBiases,
      const Eigen::Matrix<double, 3, 1> & omega_S);

  void csvSaveFullStateWithExtrinsicsAsCallback(
      const okvis::Time & t,
      const okvis::kinematics::Transformation & T_WS,
      const Eigen::Matrix<double, 9, 1> & speedAndBiases,
      const Eigen::Matrix<double, 3, 1> & omega_S,
      const std::vector<okvis::kinematics::Transformation,
          Eigen::aligned_allocator<okvis::kinematics::Transformation> > & extrinsics);

  void csvSaveLandmarksAsCallback(
      const okvis::Time & t, const okvis::MapPointVector & actualLandmarks,
      const okvis::MapPointVector & transferredLandmarks);

  void publishOdometry();
  void publishPoints();
  void publishImages();
  void publishPath();


 private:

  bool writeCsvDescription();
  bool writeLandmarksCsvDescription();


  ros::NodeHandle* nh_; 
  tf::TransformBroadcaster pubTf_;  
  ros::Publisher pubPointsMatched_; 
  ros::Publisher pubPointsUnmatched_; 
  ros::Publisher pubPointsTransferred_; 
  ros::Publisher pubObometry_;  
  ros::Publisher pubPath_;  
  ros::Publisher pubTransform_; 
  ros::Publisher pubMesh_; 
  std::vector<image_transport::Publisher> pubImagesVector_; 
  std::vector<image_transport::ImageTransport> imageTransportVector_; 


  ros::Time _t; 
  geometry_msgs::TransformStamped poseMsg_; 
  nav_msgs::Odometry odometryMsg_;  
  okvis::MapPointVector pointsMatched2_;  
  pcl::PointCloud<pcl::PointXYZRGB> pointsMatched_; 
  pcl::PointCloud<pcl::PointXYZRGB> pointsUnmatched_; 
  pcl::PointCloud<pcl::PointXYZRGB> pointsTransferred_; 
  std::vector<cv::Mat> images_; 
  nav_msgs::Path path_; 
  visualization_msgs::Marker meshMsg_; 


  ros::Time lastOdometryTime_;  
  ros::Time lastOdometryTime2_; 
  ros::Time lastTransfromTime_; 

  okvis::VioParameters parameters_; 

  uint32_t ctr2_; 

  std::shared_ptr<std::fstream> csvFile_; 
  std::shared_ptr<std::fstream> csvLandmarksFile_;  

};

}

#endif /* INCLUDE_OKVIS_PUBLISHER_HPP_ */