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b/global_fusion/src/globalOpt.cpp index dc0bc83..ebd6a75 100644 --- a/global_fusion/src/globalOpt.cpp +++ b/global_fusion/src/globalOpt.cpp @@ -14,6 +14,8 @@ *******************************************************/ #include "globalOpt.h" + +#include #include "Factors.h" GlobalOptimization::GlobalOptimization() { @@ -43,6 +45,10 @@ void GlobalOptimization::inputOdom(double t, Eigen::Vector3d OdomP, Eigen::Quate OdomQ.w(), OdomQ.x(), OdomQ.y(), OdomQ.z()}; localPoseMap[t] = localPose; +// std::cout << "inputOdom tCov.size() " << tCov.size() << std::endl; +// localTranslationCovariance[t] = tCov; +// localRotationCovariance[t] = rCov; + Eigen::Quaterniond globalQ; globalQ = WGPS_T_WVIO.block<3, 3>(0, 0) * OdomQ; Eigen::Vector3d globalP = WGPS_T_WVIO.block<3, 3>(0, 0) * OdomP + WGPS_T_WVIO.block<3, 1>(0, 3); @@ -82,7 +88,7 @@ void GlobalOptimization::inputGPS(double t, double latitude, double longitude, d newGPS = true; } -void GlobalOptimization::optimize(){ +[[noreturn]] void GlobalOptimization::optimize(){ while(true){ if (newGPS){ newGPS = false; @@ -138,6 +144,26 @@ void GlobalOptimization::optimize(){ iQj = iTj.block<3, 3>(0, 0); Eigen::Vector3d iPj = iTj.block<3, 1>(0, 3); +// auto tCov = localTranslationCovariance[iterVIO->first]; +// Eigen::VectorXd translationCovariance(tCov.size()); +// for (int r = 0; r < 3; r++){ +// for (int c = 0; c < 3; c++){ +// translationCovariance[r*3 + c] = tCov[r*3 + c]; +// } +// } +// std::cout << "Eigen translation covariance norm is: " << translationCovariance.norm() << std::endl; +// +// auto rCov = localRotationCovariance[iterVIO->first]; +// Eigen::VectorXd rotationCovariance(rCov.size()); +// for (int r = 0; r < 3; r++){ +// for (int c = 0; c < 3; c++){ +// rotationCovariance[r*3 + c] = rCov[r*3 + c]; +// } +// } +// std::cout << "Eigen rotation covariance norm is: " << rotationCovariance.norm() << std::endl; +// std::cout << "Eigen rotation covariance first 3 elems: " << rotationCovariance[0] << " " << +// rotationCovariance[1] << " " << rotationCovariance[2] << std::endl; + ceres::CostFunction* vio_function = RelativeRTError::Create(iPj.x(), iPj.y(), iPj.z(), iQj.w(), iQj.x(), iQj.y(), iQj.z(), 0.1, 0.01); diff --git a/global_fusion/src/globalOpt.h b/global_fusion/src/globalOpt.h index dd8e9e5..095f85b 100644 --- a/global_fusion/src/globalOpt.h +++ b/global_fusion/src/globalOpt.h @@ -48,11 +48,14 @@ private: // this function is interesting. I suppose it transforms from the gps coordinate system to the // local (vins) coordinate system. Which has the center at the start of the sequence by the way. void GPS2XYZ(double latitude, double longitude, double altitude, double* xyz); - void optimize(); + + [[noreturn]] void optimize(); void updateGlobalPath(); // format t, tx, ty, tz, qw, qx, qy, qz map> localPoseMap; + map> localTranslationCovariance; + map> localRotationCovariance; map> globalPoseMap; map> GPSPositionMap; bool initGPS; diff --git a/global_fusion/src/globalOptNode.cpp b/global_fusion/src/globalOptNode.cpp index ad9a008..33d4401 100644 --- a/global_fusion/src/globalOptNode.cpp +++ b/global_fusion/src/globalOptNode.cpp @@ -16,6 +16,7 @@ #include "ros/ros.h" #include "globalOpt.h" #include +#include #include #include #include @@ -99,6 +100,39 @@ void vio_callback(const nav_msgs::Odometry::ConstPtr &pose_msg) vio_q.x() = pose_msg->pose.pose.orientation.x; vio_q.y() = pose_msg->pose.pose.orientation.y; vio_q.z() = pose_msg->pose.pose.orientation.z; + +// auto cov = pose_msg->pose.covariance; + +// auto rCovArr = pose_msg->twist.covariance; +// auto tCovArr = pose_msg->pose.covariance; + // convert boost::array to std::array +// std::vector transCov(9); +// std::vector rotCov(9); +// std::vector tCov(tCovArr.size()); + + // Presuming that the first 3 block shows the translation cov, and the rest shows rotation cov +// for (int r = 0; r < 3; r++){ +// for (int c = 0; c < 3; c++){ +// transCov[r*3 + c] = cov[r*6 + c]; +// } +// } +// +// for (int r = 3; r < 6; r++){ +// for (int c = 3; c < 6; c++){ +// rotCov[(r-3)*3 + (c-3)] = cov[r*6 + c]; +// } +// } + +// std::cout << "The obtained below matrix from cov" << std::endl; +// // debugging. Output the below matrix +// for (int r = 0; r < 3; r++){ +// for (int c = 0; c < 3; c++){ +// std::cout << rotCov[r*3 + c] << " "; +// } +// std::cout << std::endl; +// } + +// ROS_INFO_STREAM("the filled vector size" << rCov.size() << " the filled vector first element: " << rCov[0]); globalEstimator.inputOdom(t, vio_t, vio_q); @@ -144,7 +178,6 @@ void vio_callback(const nav_msgs::Odometry::ConstPtr &pose_msg) nav_msgs::Odometry odometry; odometry.header = pose_msg->header; odometry.header.frame_id = "gps_global"; - odometry.child_frame_id = "cam0_gps"; odometry.pose.pose.position.x = global_t.x(); odometry.pose.pose.position.y = global_t.y(); odometry.pose.pose.position.z = global_t.z(); @@ -156,18 +189,6 @@ void vio_callback(const nav_msgs::Odometry::ConstPtr &pose_msg) pub_global_path.publish(*global_path); publish_car_model(t, global_t, global_q); - // Publish the tf so that Camera can bind to it. - tf::StampedTransform trans; - trans.frame_id_ = "gps_global"; - trans.child_frame_id_ = "cam0_gps"; - trans.stamp_ = pose_msg->header.stamp; - tf::Quaternion quat(global_q.x(), global_q.y(), global_q.z(), global_q.w()); - trans.setRotation(quat); - tf::Vector3 orig(global_t.x(), global_t.y(), global_t.z()); - trans.setOrigin(orig); - TfBr->sendTransform(trans); -// pub_imu_tf_global.publish(trans); - // write result to file std::ofstream foutC("/home/admin1/workspace/catkin_ws_ov/src/open_vins/global_fusion/data/vio_global.csv", ios::app); foutC.setf(ios::fixed, ios::floatfield); @@ -184,6 +205,24 @@ void vio_callback(const nav_msgs::Odometry::ConstPtr &pose_msg) foutC.close(); } +void gps_img_callback(sensor_msgs::ImageConstPtr msg){ + Eigen::Vector3d global_t; + Eigen:: Quaterniond global_q; + globalEstimator.getGlobalOdom(global_t, global_q); + + // Publish the tf so that Camera can bind to it. + tf::StampedTransform trans; + trans.frame_id_ = "gps_global"; + trans.child_frame_id_ = "imu_gps"; + trans.stamp_ = msg->header.stamp; + tf::Quaternion quat(global_q.x(), global_q.y(), global_q.z(), global_q.w()); + trans.setRotation(quat); + tf::Vector3 orig(global_t.x(), global_t.y(), global_t.z()); + trans.setOrigin(orig); + TfBr->sendTransform(trans); +// pub_imu_tf_global.publish(trans); +} + int main(int argc, char **argv) { ros::init(argc, argv, "globalEstimator"); @@ -194,6 +233,7 @@ int main(int argc, char **argv) ros::Subscriber sub_GPS = n.subscribe("/gps", 100, GPS_callback); ros::Subscriber sub_vio = n.subscribe("/vins_estimator/odometry", 100, vio_callback); + ros::Subscriber sub_img = n.subscribe("/global_fusion_node/sensor_left", 100, gps_img_callback); pub_global_path = n.advertise("global_path", 100); pub_global_odometry = n.advertise("global_odometry", 100); // pub_imu_tf_global = n.advertise("tf_imu_global", 100); diff --git a/ov_msckf/src/render_cubes.cpp b/ov_msckf/src/render_cubes.cpp index 625ae9a..cba91b4 100644 --- a/ov_msckf/src/render_cubes.cpp +++ b/ov_msckf/src/render_cubes.cpp @@ -23,7 +23,7 @@ #include -float yCubesVisPos = -0.5; +float yCubesVisPos = -2.0; float skew = 5.0; std::vector> cubeVisPoints = { {71.215, 32.694, yCubesVisPos+2.0}, @@ -52,241 +52,241 @@ std::vector> cubeVisPoints = { {1244.767, 784.257, yCubesVisPos}, // CUBES FOR THE GPS ALIGNED TRAJECTORY - {-5.473, 15.819, 0.000}, + {-5.473, 15.819, yCubesVisPos}, - {-15.586, 25.062, 0.000}, + {-15.586, 25.062, yCubesVisPos}, - {-22.395, 43.562, 0.000}, + {-22.395, 43.562, yCubesVisPos}, - {-36.035, 50.009, 0.000}, + {-36.035, 50.009, yCubesVisPos}, - {-41.113, 62.946, 0.000}, + {-41.113, 62.946, yCubesVisPos}, - {-47.675, 62.477, 0.000}, + {-47.675, 62.477, yCubesVisPos}, - {-56.081, 76.612, 0.000}, + {-56.081, 76.612, yCubesVisPos}, - {-68.155, 82.382, 0.000}, + {-68.155, 82.382, yCubesVisPos}, - {-76.903, 97.032, 0.000}, + {-76.903, 97.032, yCubesVisPos}, - {-93.218, 103.532, 0.000}, + {-93.218, 103.532, yCubesVisPos}, - {-121.903, 137.353, 0.000}, + {-121.903, 137.353, yCubesVisPos}, - {-134.567, 140.840, 0.000}, + {-134.567, 140.840, yCubesVisPos}, - {-158.030, 169.709, 0.000}, + {-158.030, 169.709, yCubesVisPos}, - {-170.521, 177.370, 0.000}, + {-170.521, 177.370, yCubesVisPos}, - {-225.440, 236.153, 0.000}, + {-225.440, 236.153, yCubesVisPos}, - {-259.810, 259.846, 0.000}, + {-259.810, 259.846, yCubesVisPos}, - {-287.220, 297.381, 0.000}, + {-287.220, 297.381, yCubesVisPos}, - {-313.876, 312.375, 0.000}, + {-313.876, 312.375, yCubesVisPos}, - {-446.905, 450.175, 0.000}, + {-446.905, 450.175, yCubesVisPos}, - {-489.056, 477.187, 0.000}, + {-489.056, 477.187, yCubesVisPos}, - {-544.828, 555.099, 0.000}, + {-544.828, 555.099, yCubesVisPos}, - {-568.349, 556.457, 0.000}, + {-568.349, 556.457, yCubesVisPos}, - {-638.075, 643.542, 0.000}, + {-638.075, 643.542, yCubesVisPos}, - {-702.377, 676.867, 0.000}, + {-702.377, 676.867, yCubesVisPos}, - {-753.507, 750.003, 0.000}, + {-753.507, 750.003, yCubesVisPos}, - {-807.197, 768.580, 0.000}, + {-807.197, 768.580, yCubesVisPos}, - {-863.780, 829.878, 0.000}, + {-863.780, 829.878, yCubesVisPos}, - {-877.002, 860.185, 0.000}, + {-877.002, 860.185, yCubesVisPos}, - {-905.568, 864.266, 0.000}, + {-905.568, 864.266, yCubesVisPos}, - {-915.407, 887.186, 0.000}, + {-915.407, 887.186, yCubesVisPos}, - {-931.954, 899.596, 0.000}, + {-931.954, 899.596, yCubesVisPos}, - {-936.091, 907.870, 0.000}, + {-936.091, 907.870, yCubesVisPos}, - {-971.656, 952.685, 0.000}, + {-971.656, 952.685, yCubesVisPos}, - {-1012.476, 947.723, 0.000}, + {-1012.476, 947.723, yCubesVisPos}, - {-1016.629, 985.880, 0.000}, + {-1016.629, 985.880, yCubesVisPos}, - {-1065.223, 987.986, 0.000}, + {-1065.223, 987.986, yCubesVisPos}, - {-1078.723, 1012.979, 0.000}, + {-1078.723, 1012.979, yCubesVisPos}, - {-1145.907, 1035.300, 0.000}, + {-1145.907, 1035.300, yCubesVisPos}, - {-1234.198, 1116.285, 0.000}, + {-1234.198, 1116.285, yCubesVisPos}, - {-1338.651, 1152.282, 0.000}, + {-1338.651, 1152.282, yCubesVisPos}, - {-1422.556, 1202.064, 0.000}, + {-1422.556, 1202.064, yCubesVisPos}, - {-1488.881, 1208.139, 0.000}, + {-1488.881, 1208.139, yCubesVisPos}, - {-1613.822, 1281.229, 0.000}, + {-1613.822, 1281.229, yCubesVisPos}, - {-1682.561, 1274.593, 0.000}, + {-1682.561, 1274.593, yCubesVisPos}, - {-1927.827, 1384.315, 0.000}, + {-1927.827, 1384.315, yCubesVisPos}, - {-2035.692, 1400.027, 0.000}, + {-2035.692, 1400.027, yCubesVisPos}, - {-2224.536, 1462.204, 0.000}, + {-2224.536, 1462.204, yCubesVisPos}, - {-2313.168, 1458.187, 0.000}, + {-2313.168, 1458.187, yCubesVisPos}, - {-2436.409, 1496.333, 0.000}, + {-2436.409, 1496.333, yCubesVisPos}, - {-2503.565, 1473.606, 0.000}, + {-2503.565, 1473.606, yCubesVisPos}, - {-2605.994, 1481.901, 0.000}, + {-2605.994, 1481.901, yCubesVisPos}, - {-2563.683, 1431.523, 0.000}, + {-2563.683, 1431.523, yCubesVisPos}, - {-2599.753, 1395.453, 0.000}, + {-2599.753, 1395.453, yCubesVisPos}, - {-2679.961, 1407.933, 0.000}, + {-2679.961, 1407.933, yCubesVisPos}, - {-2630.649, 1438.753, 0.000}, + {-2630.649, 1438.753, yCubesVisPos}, - {-2581.338, 1506.557, 0.000}, + {-2581.338, 1506.557, yCubesVisPos}, - {-2528.483, 1197.294, 0.000}, + {-2528.483, 1197.294, yCubesVisPos}, - {-2553.878, 1178.248, 0.000}, + {-2553.878, 1178.248, yCubesVisPos}, - {-2553.878, 1108.412, 0.000}, + {-2553.878, 1108.412, yCubesVisPos}, - {-2450.511, 1023.108, 0.000}, + {-2450.511, 1023.108, yCubesVisPos}, - {-2450.511, 967.579, 0.000}, + {-2450.511, 967.579, yCubesVisPos}, - {-2437.486, 890.971, 0.000}, + {-2437.486, 890.971, yCubesVisPos}, - {-2450.511, 819.504, 0.000}, + {-2450.511, 819.504, yCubesVisPos}, - {-2365.134, 690.688, 0.000}, + {-2365.134, 690.688, yCubesVisPos}, - {-2296.590, 541.293, 0.000}, + {-2296.590, 541.293, yCubesVisPos}, - {-2283.679, 620.835, 0.000}, + {-2283.679, 620.835, yCubesVisPos}, - {-2151.879, 318.478, 0.000}, + {-2151.879, 318.478, yCubesVisPos}, - {-2176.409, 287.816, 0.000}, + {-2176.409, 287.816, yCubesVisPos}, - {-2102.820, 251.022, 0.000}, + {-2102.820, 251.022, yCubesVisPos}, - {-2127.350, 189.698, 0.000}, + {-2127.350, 189.698, yCubesVisPos}, - {-2028.905, 122.896, 0.000}, + {-2028.905, 122.896, yCubesVisPos}, - {-2046.821, 66.008, 0.000}, + {-2046.821, 66.008, yCubesVisPos}, - {-1958.025, 1.247, 0.000}, + {-1958.025, 1.247, yCubesVisPos}, - {-1886.644, -52.849, 0.000}, + {-1886.644, -52.849, yCubesVisPos}, - {-1863.596, -64.373, 0.000}, + {-1863.596, -64.373, yCubesVisPos}, - {-1783.239, -134.282, 0.000}, + {-1783.239, -134.282, yCubesVisPos}, - {-1705.906, -151.254, 0.000}, + {-1705.906, -151.254, yCubesVisPos}, - {-1617.356, -206.598, 0.000}, + {-1617.356, -206.598, yCubesVisPos}, - {-1565.032, -222.410, 0.000}, + {-1565.032, -222.410, yCubesVisPos}, - {-1465.740, -282.723, 0.000}, + {-1465.740, -282.723, yCubesVisPos}, - {-1361.237, -309.086, 0.000}, + {-1361.237, -309.086, yCubesVisPos}, - {-1276.829, -355.967, 0.000}, + {-1276.829, -355.967, yCubesVisPos}, - {-1236.832, -350.967, 0.000}, + {-1236.832, -350.967, yCubesVisPos}, - {-1170.082, -368.522, 0.000}, + {-1170.082, -368.522, yCubesVisPos}, - {-1145.877, -386.675, 0.000}, + {-1145.877, -386.675, yCubesVisPos}, - {-1133.776, -374.573, 0.000}, + {-1133.776, -374.573, yCubesVisPos}, - {-1064.985, -381.088, 0.000}, + {-1064.985, -381.088, yCubesVisPos}, - {-1060.602, -409.499, 0.000}, + {-1060.602, -409.499, yCubesVisPos}, - {-943.535, -368.153, 0.000}, + {-943.535, -368.153, yCubesVisPos}, - {-852.780, -365.980, 0.000}, + {-852.780, -365.980, yCubesVisPos}, - {-747.917, -375.279, 0.000}, + {-747.917, -375.279, yCubesVisPos}, - {-694.244, -346.169, 0.000}, + {-694.244, -346.169, yCubesVisPos}, - {-724.264, -360.724, 0.000}, + {-724.264, -360.724, yCubesVisPos}, - {-601.465, -334.072, 0.000}, + {-601.465, -334.072, yCubesVisPos}, - {-557.205, -336.465, 0.000}, + {-557.205, -336.465, yCubesVisPos}, - {-564.189, -332.895, 0.000}, + {-564.189, -332.895, yCubesVisPos}, - {-520.468, -340.201, 0.000}, + {-520.468, -340.201, yCubesVisPos}, - {-476.908, -317.140, 0.000}, + {-476.908, -317.140, yCubesVisPos}, - {-417.040, -318.781, 0.000}, + {-417.040, -318.781, yCubesVisPos}, - {-377.842, -296.022, 0.000}, + {-377.842, -296.022, yCubesVisPos}, - {-309.273, -302.223, 0.000}, + {-309.273, -302.223, yCubesVisPos}, - {-267.572, -281.072, 0.000}, + {-267.572, -281.072, yCubesVisPos}, - {-233.495, -287.929, 0.000}, + {-233.495, -287.929, yCubesVisPos}, - {-211.795, -257.754, 0.000}, + {-211.795, -257.754, yCubesVisPos}, - {-209.412, -234.544, 0.000}, + {-209.412, -234.544, yCubesVisPos}, - {-144.978, -252.842, 0.000}, + {-144.978, -252.842, yCubesVisPos}, - {-86.550, -255.100, 0.000}, + {-86.550, -255.100, yCubesVisPos}, - {-57.889, -200.404, 0.000}, + {-57.889, -200.404, yCubesVisPos}, - {-12.395, -168.373, 0.000}, + {-12.395, -168.373, yCubesVisPos}, - {-8.988, -117.709, 0.000}, + {-8.988, -117.709, yCubesVisPos}, - {-5.494, -73.048, 0.000}, + {-5.494, -73.048, yCubesVisPos}, - {12.541, -24.783, 0.000}, + {12.541, -24.783, yCubesVisPos}, - {-8.001, 22.391, 0.000}, + {-8.001, 22.391, yCubesVisPos}, - {-7.999, -85.193, 0.000}, + {-7.999, -85.193, yCubesVisPos}, - {-61.402, 98.350, 0.000} + {-61.402, 98.350, yCubesVisPos} }; std::vector> cashedCubeVisPoints; -ros::Publisher pub_cubes, pub_aligned_traj, pub_sensor_left_gps; +ros::Publisher pub_cubes, pub_cubes_gps, pub_aligned_traj, pub_sensor_left_gps; ros::Subscriber sub_imu, subs_T_align, sub_stereo_left; visualization_msgs::Marker Marker; std::ofstream fT_aligned; @@ -294,6 +294,8 @@ nav_msgs::Path curr_path; void callback_imu(const sensor_msgs::Imu::ConstPtr &msg){ ROS_INFO_STREAM("received imu"); + pub_cubes_gps.publish(Marker); + Marker.header.frame_id = "global"; pub_cubes.publish(Marker); } @@ -365,10 +367,13 @@ void T_align_callback(const geometry_msgs::TransformStamped &msg){ } -void callback_stereo_left_gps(sensor_msgs::ImagePtr msg){ - msg->header.frame_id = "cam0_gps"; - pub_sensor_left_gps.publish(msg); -} +//void callback_stereo_left_gps(sensor_msgs::ImagePtr msg){ +// auto new_msg = sensor_msgs::ImagePtr(); +// new_msg = msg; +//// new_msg->header.stamp = ros::Time(0.0); +// new_msg->header.frame_id = "cam0_gps"; +// pub_sensor_left_gps.publish(new_msg); +//} int main(int argc, char* argv[]){ ros::init(argc, argv, "render_cubes"); @@ -390,12 +395,13 @@ int main(int argc, char* argv[]){ // the idea: set the subscriber for IMU, and every time the IMU measurement comes, publish // the cubes because the images are also published when the IMU measurement arrives. sub_imu = nh.subscribe("/imu/data_raw", 1000, &callback_imu); - pub_cubes = nh.advertise("/ov_msckf/vis_markers", 0); + pub_cubes = nh.advertise("/ov_msckf/vio_vis_markers", 0); + pub_cubes_gps = nh.advertise("/ov_msckf/vis_markers", 0); pub_aligned_traj = nh.advertise("/ov_msckf/pathaligned", 2); // a lame fix: create the subscirber here which sends the message from /stereo/left/image_raw to /global_fusion_node/sensor_left - sub_stereo_left = nh.subscribe("/stereo/left/image_raw", 1000, &callback_stereo_left_gps); - pub_sensor_left_gps = nh.advertise("/global_fusion_node/sensor_left", 2); +// sub_stereo_left = nh.subscribe("/stereo/left/image_raw", 1000, &callback_stereo_left_gps); +// pub_sensor_left_gps = nh.advertise("/global_fusion_node/sensor_left", 2); //// UNCOMMENT THIS TO RESTORE THE T_align_callback // subs_T_align = nh.subscribe("/ov_msckf/T_align", 1000, T_align_callback); diff --git a/ov_msckf/src/ros/ROS1Visualizer.cpp b/ov_msckf/src/ros/ROS1Visualizer.cpp index fb65f23..1c42043 100644 --- a/ov_msckf/src/ros/ROS1Visualizer.cpp +++ b/ov_msckf/src/ros/ROS1Visualizer.cpp @@ -39,7 +39,9 @@ ROS1Visualizer::ROS1Visualizer(std::shared_ptr nh, std::shared_ pub_poseimu = nh->advertise("/ov_msckf/poseimu", 2); PRINT_DEBUG("Publishing: %s\n", pub_poseimu.getTopic().c_str()); pub_odomimu = nh->advertise("/ov_msckf/odomimu", 2); + pub_odomimu_gps = nh->advertise("/ov_msckf/odomimugps", 2); PRINT_DEBUG("Publishing: %s\n", pub_odomimu.getTopic().c_str()); + ROS_INFO_STREAM("Publishing: " << pub_odomimu_gps.getTopic().c_str() << std::endl); pub_pathimu = nh->advertise("/ov_msckf/pathimu", 2); PRINT_DEBUG("Publishing: %s\n", pub_pathimu.getTopic().c_str()); pub_poserec = nh->advertise("/ov_msckf/poserec", 2); @@ -135,7 +137,7 @@ ROS1Visualizer::ROS1Visualizer(std::shared_ptr nh, std::shared_ pub_cam0_info = nh->advertise("/ov_msckf/cam0_info", 2); pub_gps_cam0_info = nh->advertise("/global_fusion_node/camera_info", 2); -//sensor_left_gps_pub = it.advertise("/global_fusion_node/sensor_left", 2); + sensor_left_gps_pub = it.advertise("/global_fusion_node/sensor_left", 2); //// UNCOMMENT THIS IN ORDER TO RESTORE THE CUBES RENDERING // vis_pub = nh->advertise("/ov_msckf/vis_markers", 0); // pub_camera_info = nh->advertise("/ov_mskcf/camera_info", 2); @@ -369,7 +371,7 @@ void ROS1Visualizer::visualize_odometry(double timestamp) { return; // Publish our odometry message if requested - if (pub_odomimu.getNumSubscribers() != 0) { + if (pub_odomimu.getNumSubscribers() != 0 || pub_odomimu_gps.getNumSubscribers() != 0) { nav_msgs::Odometry odomIinM; odomIinM.header.stamp = ros::Time(timestamp); @@ -410,6 +412,14 @@ void ROS1Visualizer::visualize_odometry(double timestamp) { } } pub_odomimu.publish(odomIinM); + + auto gps_odom = nav_msgs::Odometry(); + gps_odom.pose.pose.orientation = odomIinM.pose.pose.orientation; + gps_odom.pose.pose.position = odomIinM.pose.pose.position; + gps_odom.pose.covariance = odomIinM.pose.covariance; + gps_odom.header.frame_id = "gps_global"; + gps_odom.header.stamp = ros::Time(original_img_ts); + pub_odomimu_gps.publish(gps_odom); } // Publish our transform on TF @@ -431,6 +441,14 @@ void ROS1Visualizer::visualize_odometry(double timestamp) { trans_calib.child_frame_id_ = "cam" + std::to_string(calib.first); if (publish_calibration_tf) { mTfBr->sendTransform(trans_calib); + + // added by PI + auto trans_calib_gps = tf::StampedTransform(); + trans_calib_gps = trans_calib; + trans_calib_gps.stamp_ = ros::Time(original_img_ts); + trans_calib_gps.frame_id_ = "imu_gps"; + trans_calib_gps.child_frame_id_ = "cam0_gps"; + mTfBr->sendTransform(trans_calib_gps); } } } @@ -593,6 +611,10 @@ void ROS1Visualizer::callback_stereo(const sensor_msgs::ImageConstPtr &msg0, con if (camera_last_timestamp.find(cam_id0) != camera_last_timestamp.end() && timestamp < camera_last_timestamp.at(cam_id0) + time_delta) { return; } + // added by PI + auto gps_cv_ptr0 = cv_bridge::toCvCopy(msg0, sensor_msgs::image_encodings::RGB8); + gps_img_msg = gps_cv_ptr0->toImageMsg(); + camera_last_timestamp[cam_id0] = timestamp; // Get the image @@ -727,13 +749,13 @@ void ROS1Visualizer::publish_images() { exl_msg_global = exl_msg; // Get the original image in order to publish it to the topic for rendering with CameraPub. - cv::Mat original_img; - double original_img_ts; - _app->get_active_image(original_img_ts, original_img); - // usually the function returns -1. so, let's fill it with the ts from camera_last_timestamp. - if (original_img_ts == -1){ - original_img_ts = camera_last_timestamp[0]; - } +// cv::Mat original_img; +// double original_img_ts; +// _app->get_active_image(original_img_ts, original_img); +// // usually the function returns -1. so, let's fill it with the ts from camera_last_timestamp. +// if (original_img_ts == -1){ +// original_img_ts = camera_last_timestamp[0]; +// } std_msgs::Header orig_img_msg_header; // as I remember it's the timestamp in kaist is already in seconds. ROS_INFO_STREAM("org msg: 1"); @@ -741,9 +763,8 @@ void ROS1Visualizer::publish_images() { ROS_INFO_STREAM("org msg: 2"); orig_img_msg_header.stamp = orig_stamp; orig_img_msg_header.frame_id = "cam0"; - sensor_msgs::ImagePtr original_img_message = cv_bridge::CvImage(orig_img_msg_header, "bgr8", original_img).toImageMsg(); - ROS_INFO_STREAM("The camera last timestamp for cam0 is: " << std::fixed << std::setprecision(21) << original_img_ts); - ROS_INFO_STREAM("Original image width and height are: " << original_img.cols << " " << original_img.rows); +// ROS_INFO_STREAM("The camera last timestamp for cam0 is: " << std::fixed << std::setprecision(21) << original_img_ts); +// ROS_INFO_STREAM("Original image width and height are: " << original_img.cols << " " << original_img.rows); // Publish it_pub_tracks.publish(exl_msg); @@ -754,6 +775,17 @@ void ROS1Visualizer::publish_images() { // cv::Mat cropped_image = img_history(rows, cols); // sensor_msgs::ImagePtr sensor_left_msg = cv_bridge::CvImage(header, "bgr8", cropped_image).toImageMsg(); // sensor_left_msg->header.seq = sensor_left_id++; + +// since this is a pointer, we need to initialize (heap-allocate) it in boost. + sensor_msgs::ImagePtr original_img_message = boost::make_shared(); + original_img_message->header = orig_img_msg_header; + original_img_message->encoding = gps_img_msg->encoding; + original_img_message->height = gps_img_msg->height; + original_img_message->width = gps_img_msg->width; + original_img_message->is_bigendian = gps_img_msg->is_bigendian; + original_img_message->step = gps_img_msg->step; + original_img_message->data = gps_img_msg->data; + sensor_left_pub.publish(original_img_message); original_img_message->header.frame_id = "cam0_gps"; @@ -790,7 +822,7 @@ void ROS1Visualizer::publish_images() { auto camInfoGPS = sensor_msgs::CameraInfo(); camInfoGPS = cameraparams; camInfoGPS.header.frame_id = "cam0_gps"; - camInfoGPS.header.stamp = orig_img_msg_header.stamp; +// camInfoGPS.header.stamp = orig_img_msg_header.stamp; camInfoGPS.height = exl_msg->height; camInfoGPS.width = exl_msg->width / 2; pub_gps_cam0_info.publish(camInfoGPS); @@ -1003,6 +1035,9 @@ void ROS1Visualizer::publish_loopclosure_information() { if (active_tracks_time1 != active_tracks_time2) return; + // PI: Fill the timestamp. + original_img_ts = active_tracks_time1; + // Default header std_msgs::Header header; header.stamp = ros::Time(active_tracks_time1); diff --git a/ov_msckf/src/ros/ROS1Visualizer.h b/ov_msckf/src/ros/ROS1Visualizer.h index 147135f..40bab6d 100644 --- a/ov_msckf/src/ros/ROS1Visualizer.h +++ b/ov_msckf/src/ros/ROS1Visualizer.h @@ -155,7 +155,7 @@ protected: // Our publishers image_transport::Publisher it_pub_tracks, it_pub_loop_img_depth, it_pub_loop_img_depth_color; - ros::Publisher pub_poseimu, pub_odomimu, pub_pathimu; + ros::Publisher pub_poseimu, pub_odomimu, pub_pathimu, pub_odomimu_gps; ros::Publisher pub_points_msckf, pub_points_slam, pub_points_aruco, pub_points_sim; ros::Publisher pub_loop_pose, pub_loop_point, pub_loop_extrinsic, pub_loop_intrinsics; std::shared_ptr mTfBr; @@ -172,6 +172,7 @@ protected: ros::Publisher vis_pub; sensor_msgs::CameraInfo camInfoGlob; sensor_msgs::ImagePtr exl_msg_global; + sensor_msgs::ImageConstPtr gps_img_msg; ros::Subscriber sub_camera_info, subs_T_align; ros::Publisher pub_poserec, pub_aligned_traj; nav_msgs::Path curr_path; @@ -202,6 +203,8 @@ protected: double summed_nees_pos = 0.0; size_t summed_number = 0; + double original_img_ts; + // Start and end timestamps bool start_time_set = false; boost::posix_time::ptime rT1, rT2;