93 lines
2.5 KiB
C++
93 lines
2.5 KiB
C++
// This file is part of SVO - Semi-direct Visual Odometry.
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//
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// Copyright (C) 2014 Christian Forster <forster at ifi dot uzh dot ch>
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// (Robotics and Perception Group, University of Zurich, Switzerland).
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//
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// SVO is free software: you can redistribute it and/or modify it under the
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// terms of the GNU General Public License as published by the Free Software
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// Foundation, either version 3 of the License, or any later version.
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//
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// SVO is distributed in the hope that it will be useful, but WITHOUT ANY
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// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
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//
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// You should have received a copy of the GNU General Public License
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// along with this program. If not, see <http://www.gnu.org/licenses/>.
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#ifndef SVO_VISUALIZER_H_
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#define SVO_VISUALIZER_H_
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#include <queue>
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#include <ros/ros.h>
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#include <svo/global.h>
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#include <visualization_msgs/Marker.h>
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#include <visualization_msgs/MarkerArray.h>
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#include <nav_msgs/Odometry.h>
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#include <std_msgs/ColorRGBA.h>
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#include <sensor_msgs/Image.h>
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#include <sensor_msgs/CameraInfo.h>
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#include <boost/lexical_cast.hpp>
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#include <tf/transform_broadcaster.h>
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#include <image_transport/image_transport.h>
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#include <boost/thread.hpp>
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#include <boost/shared_ptr.hpp>
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#include <iostream>
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namespace svo {
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class Frame;
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class Point;
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class Map;
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class FrameHandlerMono;
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typedef boost::shared_ptr<Frame> FramePtr;
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/// This class bundles all functions to publish visualisation messages.
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class Visualizer
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{
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public:
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ros::NodeHandle pnh_;
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size_t trace_id_;
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size_t img_pub_level_;
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size_t img_pub_nth_;
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size_t dense_pub_nth_;
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ros::Publisher pub_frames_;
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ros::Publisher pub_points_;
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ros::Publisher pub_pose_;
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ros::Publisher pub_info_;
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ros::Publisher pub_dense_;
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image_transport::Publisher pub_images_;
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tf::TransformBroadcaster br_;
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bool publish_world_in_cam_frame_;
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bool publish_map_every_frame_;
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ros::Duration publish_points_display_time_;
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SE3 T_world_from_vision_;
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Visualizer();
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~Visualizer() {};
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void publishMinimal(
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const cv::Mat& img,
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const FramePtr& frame,
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const FrameHandlerMono& slam,
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const double timestamp);
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void visualizeMarkers(
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const FramePtr& frame,
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const set<FramePtr>& core_kfs,
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const Map& map);
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void publishMapRegion(set<FramePtr> frames);
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void removeDeletedPts(const Map& map);
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void displayKeyframeWithMps(const FramePtr& frame, int ts);
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void exportToDense(const FramePtr& frame);
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};
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} // end namespace svo
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#endif /* SVO_VISUALIZER_H_ */
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