This class handles the publishing to either ROS topics or files. More...

#include <Publisher.hpp>

Public Member Functions
	Publisher ()
	Default constructor. More...

	~Publisher ()

	Publisher (ros::NodeHandle &nh)
	Constructor. Calls setNodeHandle(). More...

Setters
void	setNodeHandle (ros::NodeHandle &nh)
	Set the node handle and advertise topics. More...

bool	setCsvFile (std::fstream &csvFile)
	Set an odometry output CSV file. More...

bool	setCsvFile (std::string &csvFileName)
	Set an odometry output CSV file. More...

bool	setCsvFile (std::string csvFileName)
	Set an odometry output CSV file. More...

bool	setLandmarksCsvFile (std::fstream &csvFile)
	Set a CVS file where the landmarks will be saved to. More...

bool	setLandmarksCsvFile (std::string &csvFileName)
	Set a CVS file where the landmarks will be saved to. More...

bool	setLandmarksCsvFile (std::string csvFileName)
	Set a CVS file where the landmarks will be saved to. More...

void	setPose (const okvis::kinematics::Transformation &T_WS)
	Set the pose message that is published next. More...

void	setOdometry (const okvis::kinematics::Transformation &T_WS, const okvis::SpeedAndBiases &speedAndBiases, const Eigen::Vector3d &omega_S)
	Set the odometry message that is published next. More...

void	setParameters (const okvis::VioParameters &parameters)
	Set the parameters. More...

void	setPoints (const okvis::MapPointVector &pointsMatched, const okvis::MapPointVector &pointsUnmatched, const okvis::MapPointVector &pointsTransferred)
	Set the points that are published next. More...

void	setTime (const okvis::Time &t)
	Set the time for the next message to be published. More...

void	setImages (const std::vector< cv::Mat > &images)
	Set the images to be published next. More...

void	setPath (const okvis::kinematics::Transformation &T_WS)
	Add a pose to the path that is published next. The path contains a maximum of pathLength_ (change with setPathLength)poses that are published. Once the maximum is reached, the last pose is copied in a new path message. The rest are deleted. More...

Publish
void	publishPose ()
	Publish the pose. More...

void	publishTransform ()
	Publish the T_WS transform. More...

void	publishStateAsCallback (const okvis::Time &t, const okvis::kinematics::Transformation &T_WS)
	Set and publish pose. More...

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)
	Set and publish full state. More...

void	publishLandmarksAsCallback (const okvis::Time &t, const okvis::MapPointVector &actualLandmarks, const okvis::MapPointVector &transferredLandmarks)
	Set and publish landmarks. More...

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)
	Set and write full state to CSV file. More...

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)
	Set and write full state including camera extrinsics to file. More...

void	csvSaveLandmarksAsCallback (const okvis::Time &t, const okvis::MapPointVector &actualLandmarks, const okvis::MapPointVector &transferredLandmarks)
	Set and write landmarks to file. More...

void	publishOdometry ()
	Publish the last set odometry. More...

void	publishPoints ()
	Publish the last set points. More...

void	publishImages ()
	Publish the last set images. More...

void	publishPath ()
	Publish the last set path. More...

Private Member Functions
bool	writeCsvDescription ()
	Write CSV header. More...

bool	writeLandmarksCsvDescription ()
	Write CSV header for landmarks file. More...

Private Attributes
ros::Time	lastOdometryTime_
	Timestamp of the last broadcasted transform. (publishPose()) More...

ros::Time	lastOdometryTime2_
	Timestamp of the last published odometry message. (publishOdometry()) More...

ros::Time	lastTransfromTime_
	Timestamp of the last published transform. (publishTransform()) More...

okvis::VioParameters	parameters_
	All the parameters including publishing options. More...

uint32_t	ctr2_
	The counter for the amount of transferred points. Used for the seq parameter in the header. More...

std::shared_ptr< std::fstream >	csvFile_
	CSV file to save state in. More...

std::shared_ptr< std::fstream >	csvLandmarksFile_
	CSV file to save landmarks in. More...

Node and subscriber related
ros::NodeHandle *	nh_
	The node handle. More...

tf::TransformBroadcaster	pubTf_
	The transform broadcaster. More...

ros::Publisher	pubPointsMatched_
	The publisher for matched points. More...

ros::Publisher	pubPointsUnmatched_
	The publisher for unmatched points. More...

ros::Publisher	pubPointsTransferred_
	The publisher for transferred/marginalised points. More...

ros::Publisher	pubObometry_
	The publisher for the odometry. More...

ros::Publisher	pubPath_
	The publisher for the path. More...

ros::Publisher	pubTransform_
	The publisher for the transform. More...

ros::Publisher	pubMesh_
	The publisher for a robot / camera mesh. More...

std::vector < image_transport::Publisher >	pubImagesVector_
	The publisher for the images. More...

std::vector < image_transport::ImageTransport >	imageTransportVector_
	The image transporters. More...

To be published
ros::Time	_t
	Header timestamp. More...

geometry_msgs::TransformStamped	poseMsg_
	Pose message. More...

nav_msgs::Odometry	odometryMsg_
	Odometry message. More...

okvis::MapPointVector	pointsMatched2_
	Matched points vector. More...

pcl::PointCloud< pcl::PointXYZRGB >	pointsMatched_
	Point cloud for matched points. More...

pcl::PointCloud< pcl::PointXYZRGB >	pointsUnmatched_
	Point cloud for unmatched points. More...

pcl::PointCloud< pcl::PointXYZRGB >	pointsTransferred_
	Point cloud for transferred/marginalised points. More...

std::vector< cv::Mat >	images_
	The images. More...

nav_msgs::Path	path_
	The path message. More...

visualization_msgs::Marker	meshMsg_
	Mesh message. More...

Detailed Description

This class handles the publishing to either ROS topics or files.

Constructor & Destructor Documentation

okvis::Publisher::Publisher ( )

Default constructor.

okvis::Publisher::~Publisher ( )

okvis::Publisher::Publisher ( ros::NodeHandle & nh )

Constructor. Calls setNodeHandle().

Parameters

nh	The ROS node handle for publishing.

Member Function Documentation

void okvis::Publisher::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
	)

Set and write full state to CSV file.

Remarks: This can be registered with the VioInterface.

Parameters

t	Timestamp of state.
T_WS	The pose.
speedAndBiases	The speeds and IMU biases.
omega_S	Rotational speed of the sensor frame.

void okvis::Publisher::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
	)

Set and write full state including camera extrinsics to file.

Remarks: This can be registered with the VioInterface.

Parameters

t	Timestamp of state.
T_WS	The pose.
speedAndBiases	The speeds and IMU biases.
omega_S	Rotation speed of the sensor frame.
extrinsics	Camera extrinsics.

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

Set and write landmarks to file.

Remarks: This can be registered with the VioInterface.

Parameters

t	Timestamp.
actualLandmarks	Landmarks.
transferredLandmarks	Landmarks that were marginalised out.

void okvis::Publisher::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
	)

Set and publish full state.

Remarks: This can be registered with the VioInterface.

Parameters

t	Timestamp of state.
T_WS	The pose.
speedAndBiases	The speeds and IMU biases.
omega_S	Rotational speed of the sensor frame.

void okvis::Publisher::publishImages ( )

Publish the last set images.

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

Set and publish landmarks.

Remarks: This can be registered with the VioInterface.

Parameters

t	Timestamp.
actualLandmarks	Landmarks.
transferredLandmarks	Landmarks that were marginalised out.

void okvis::Publisher::publishOdometry ( )

Publish the last set odometry.

void okvis::Publisher::publishPath ( )

Publish the last set path.

void okvis::Publisher::publishPoints ( )

Publish the last set points.

void okvis::Publisher::publishPose ( )

Publish the pose.

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

Set and publish pose.

Remarks: This can be registered with the VioInterface.

Parameters

t	Timestamp of pose.
T_WS	The pose.

void okvis::Publisher::publishTransform ( )

Publish the T_WS transform.

bool okvis::Publisher::setCsvFile ( std::fstream & csvFile )

Set an odometry output CSV file.

Parameters

csvFile The file

bool okvis::Publisher::setCsvFile ( std::string & csvFileName )

Set an odometry output CSV file.

Parameters

csvFileName The filename of a new file

bool okvis::Publisher::setCsvFile ( std::string csvFileName )

Set an odometry output CSV file.

Parameters

csvFileName The filename of a new file

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

Set the images to be published next.

bool okvis::Publisher::setLandmarksCsvFile ( std::fstream & csvFile )

Set a CVS file where the landmarks will be saved to.

Parameters

csvFile The file

bool okvis::Publisher::setLandmarksCsvFile ( std::string & csvFileName )

Set a CVS file where the landmarks will be saved to.

Parameters

csvFileName The filename of a new file

bool okvis::Publisher::setLandmarksCsvFile ( std::string csvFileName )

Set a CVS file where the landmarks will be saved to.

Parameters

csvFileName The filename of a new file

void okvis::Publisher::setNodeHandle ( ros::NodeHandle & nh )

Set the node handle and advertise topics.

Parameters

nh	The ROS node handle.

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

Set the odometry message that is published next.

Parameters

T_WS	The pose.
speedAndBiases	The speeds and biases.
omega_S	Rotational speed of Sensor frame (w.r.t. to inertial frame W)

void okvis::Publisher::setParameters ( const okvis::VioParameters & parameters )

inline

Set the parameters.

Parameters

parameters The parameters.

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

Add a pose to the path that is published next. The path contains a maximum of pathLength_ (change with setPathLength)poses that are published. Once the maximum is reached, the last pose is copied in a new path message. The rest are deleted.

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

Set the points that are published next.

Parameters

pointsMatched	Vector of 3D points that have been matched with existing landmarks.
pointsUnmatched	Vector of 3D points that were not matched with existing landmarks.
pointsTransferred	Vector of landmarks that have been marginalised out.

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

Set the pose message that is published next.

Parameters

T_WS The pose.

void okvis::Publisher::setTime ( const okvis::Time & t )

inline

Set the time for the next message to be published.

bool okvis::Publisher::writeCsvDescription ( )

private

Write CSV header.

bool okvis::Publisher::writeLandmarksCsvDescription ( )

private

Write CSV header for landmarks file.

Member Data Documentation

ros::Time okvis::Publisher::_t

private

Header timestamp.

std::shared_ptr<std::fstream> okvis::Publisher::csvFile_

private

CSV file to save state in.

std::shared_ptr<std::fstream> okvis::Publisher::csvLandmarksFile_

private

CSV file to save landmarks in.

uint32_t okvis::Publisher::ctr2_

private

The counter for the amount of transferred points. Used for the seq parameter in the header.

std::vector<cv::Mat> okvis::Publisher::images_

private

The images.

std::vector<image_transport::ImageTransport> okvis::Publisher::imageTransportVector_

private

The image transporters.

ros::Time okvis::Publisher::lastOdometryTime2_

private

Timestamp of the last published odometry message. (publishOdometry())

ros::Time okvis::Publisher::lastOdometryTime_

private

Timestamp of the last broadcasted transform. (publishPose())

ros::Time okvis::Publisher::lastTransfromTime_

private

Timestamp of the last published transform. (publishTransform())

visualization_msgs::Marker okvis::Publisher::meshMsg_

private

Mesh message.

ros::NodeHandle* okvis::Publisher::nh_

private

The node handle.

nav_msgs::Odometry okvis::Publisher::odometryMsg_

private

Odometry message.

okvis::VioParameters okvis::Publisher::parameters_

private

All the parameters including publishing options.

nav_msgs::Path okvis::Publisher::path_

private

The path message.

okvis::MapPointVector okvis::Publisher::pointsMatched2_

private

Matched points vector.

pcl::PointCloud<pcl::PointXYZRGB> okvis::Publisher::pointsMatched_

private

Point cloud for matched points.

pcl::PointCloud<pcl::PointXYZRGB> okvis::Publisher::pointsTransferred_

private

Point cloud for transferred/marginalised points.

pcl::PointCloud<pcl::PointXYZRGB> okvis::Publisher::pointsUnmatched_

private

Point cloud for unmatched points.

geometry_msgs::TransformStamped okvis::Publisher::poseMsg_

private

Pose message.

std::vector<image_transport::Publisher> okvis::Publisher::pubImagesVector_

private

The publisher for the images.

ros::Publisher okvis::Publisher::pubMesh_

private

The publisher for a robot / camera mesh.

ros::Publisher okvis::Publisher::pubObometry_

private

The publisher for the odometry.

ros::Publisher okvis::Publisher::pubPath_

private

The publisher for the path.

ros::Publisher okvis::Publisher::pubPointsMatched_

private

The publisher for matched points.

ros::Publisher okvis::Publisher::pubPointsTransferred_

private

The publisher for transferred/marginalised points.

ros::Publisher okvis::Publisher::pubPointsUnmatched_

private

The publisher for unmatched points.

tf::TransformBroadcaster okvis::Publisher::pubTf_

private

The transform broadcaster.

ros::Publisher okvis::Publisher::pubTransform_

private

The publisher for the transform.

The documentation for this class was generated from the following files:

include/okvis/Publisher.hpp
src/Publisher.cpp

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation