GuiWrapper.cpp

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/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.

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 the Universite de Sherbrooke 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 HOLDER 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 INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/

#include "rtabmap_ros/GuiWrapper.h"
#include <QApplication>
#include <QDir>

#include <std_srvs/Empty.h>
#include <std_msgs/Empty.h>

#include <rtabmap/utilite/UEventsManager.h>
#include <rtabmap/utilite/UConversion.h>
#include <rtabmap/utilite/UDirectory.h>

#include <opencv2/highgui/highgui.hpp>

#include <rtabmap/gui/MainWindow.h>
#include <rtabmap/core/RtabmapEvent.h>
#include <rtabmap/core/Parameters.h>
#include <rtabmap/core/ParamEvent.h>
#include <rtabmap/core/OdometryEvent.h>
#include <rtabmap/core/util2d.h>
#include <rtabmap/core/util3d.h>
#include <rtabmap/core/util3d_transforms.h>
#include <rtabmap/utilite/UTimer.h>

#include "rtabmap_ros/MsgConversion.h"
#include "rtabmap_ros/GetMap.h"
#include "rtabmap_ros/SetGoal.h"
#include "rtabmap_ros/SetLabel.h"
#include "rtabmap_ros/PreferencesDialogROS.h"

float max3( const float& a, const float& b, const float& c)
{
        float m=a>b?a:b;
        return m>c?m:c;
}

namespace rtabmap_ros {

GuiWrapper::GuiWrapper(int & argc, char** argv) :
                CommonDataSubscriber(true),
                mainWindow_(0),
                frameId_("base_link"),
                odomFrameId_(""),
                waitForTransform_(true),
                waitForTransformDuration_(0.2), // 200 ms
                odomSensorSync_(false),
                maxOdomUpdateRate_(10),
                cameraNodeName_(""),
                lastOdomInfoUpdateTime_(0)
{
        ros::NodeHandle nh;
        ros::NodeHandle pnh("~");

        QString configFile = QDir::homePath()+"/.ros/rtabmapGUI.ini";
        for(int i=1; i<argc; ++i)
        {
                if(strcmp(argv[i], "-d") == 0)
                {
                        ++i;
                        if(i < argc)
                        {
                                configFile = argv[i];
                        }
                        break;
                }
        }

        configFile.replace('~', QDir::homePath());

        ROS_INFO("rtabmapviz: Using configuration from \"%s\"", configFile.toStdString().c_str());
        uSleep(500);
        mainWindow_ = new MainWindow(new PreferencesDialogROS(configFile));
        mainWindow_->setWindowTitle(mainWindow_->windowTitle()+" [ROS]");
        mainWindow_->show();
        bool paused = false;
        nh.param("is_rtabmap_paused", paused, paused);
        mainWindow_->setMonitoringState(paused);

        // To receive odometry events
        std::string tfPrefix;
        std::string initCachePath;
        pnh.param("frame_id", frameId_, frameId_);
        pnh.param("odom_frame_id", odomFrameId_, odomFrameId_); // set to use odom from TF
        pnh.param("tf_prefix", tfPrefix, tfPrefix);
        pnh.param("wait_for_transform", waitForTransform_, waitForTransform_);
        pnh.param("wait_for_transform_duration",  waitForTransformDuration_, waitForTransformDuration_);
        pnh.param("odom_sensor_sync", odomSensorSync_, odomSensorSync_);
        pnh.param("max_odom_update_rate", maxOdomUpdateRate_, maxOdomUpdateRate_);
        pnh.param("camera_node_name", cameraNodeName_, cameraNodeName_); // used to pause the rtabmap_ros/camera when pausing the process
        pnh.param("init_cache_path", initCachePath, initCachePath);
        if(initCachePath.size())
        {
                initCachePath = uReplaceChar(initCachePath, '~', UDirectory::homeDir());
                if(initCachePath.at(0) != '/')
                {
                        initCachePath = UDirectory::currentDir(true) + initCachePath;
                }
                ROS_INFO("rtabmapviz: Initializing cache with local database \"%s\"", initCachePath.c_str());
                uSleep(2000); // make sure rtabmap node is created if launched at the same time
                rtabmap_ros::GetMap getMapSrv;
                getMapSrv.request.global = false;
                getMapSrv.request.optimized = true;
                getMapSrv.request.graphOnly = true;
                if(!ros::service::call("get_map", getMapSrv))
                {
                        ROS_WARN("Can't call \"get_map\" service. The cache will still be loaded "
                                        "but the clouds won't be created until next time rtabmapviz "
                                        "receives the optimized graph.");
                }
                else
                {
                        // this will update the poses and constraints of the MainWindow
                        processRequestedMap(getMapSrv.response.data);
                }
                QMetaObject::invokeMethod(mainWindow_, "updateCacheFromDatabase", Q_ARG(QString, QString(initCachePath.c_str())));
        }

        if(!tfPrefix.empty())
        {
                if(!frameId_.empty())
                {
                        frameId_ = tfPrefix + "/" + frameId_;
                }
                if(!odomFrameId_.empty())
                {
                        odomFrameId_ = tfPrefix + "/" + odomFrameId_;
                }
        }

        UEventsManager::addHandler(this);
        UEventsManager::addHandler(mainWindow_);

        infoTopic_.subscribe(nh, "info", 1);
        mapDataTopic_.subscribe(nh, "mapData", 1);
        infoMapSync_ = new message_filters::Synchronizer<MyInfoMapSyncPolicy>(
                        MyInfoMapSyncPolicy(this->getQueueSize()),
                        infoTopic_,
                        mapDataTopic_);
        infoMapSync_->registerCallback(boost::bind(&GuiWrapper::infoMapCallback, this, _1, _2));

        goalTopic_.subscribe(nh, "goal_node", 1);
        pathTopic_.subscribe(nh, "global_path", 1);
        goalPathSync_ = new message_filters::Synchronizer<MyGoalPathSyncPolicy>(
                        MyGoalPathSyncPolicy(this->getQueueSize()),
                        goalTopic_,
                        pathTopic_);
        goalPathSync_->registerCallback(boost::bind(&GuiWrapper::goalPathCallback, this, _1, _2));
        goalReachedTopic_ = nh.subscribe("goal_reached", 1, &GuiWrapper::goalReachedCallback, this);

        setupCallbacks(nh, pnh, ros::this_node::getName()); // do it at the end
}

GuiWrapper::~GuiWrapper()
{
        UDEBUG("");

        delete infoMapSync_;
        delete mainWindow_;
}

void GuiWrapper::infoMapCallback(
                const rtabmap_ros::InfoConstPtr & infoMsg,
                const rtabmap_ros::MapDataConstPtr & mapMsg)
{
        //ROS_INFO("rtabmapviz: RTAB-Map info ex received!");

        // Map from ROS struct to rtabmap struct
        rtabmap::Statistics stat;

        // Info
        rtabmap_ros::infoFromROS(*infoMsg, stat);

        // MapData
        rtabmap::Transform mapToOdom;
        std::map<int, rtabmap::Transform> poses;
        std::map<int, Signature> signatures;
        std::multimap<int, rtabmap::Link> links;

        rtabmap_ros::mapDataFromROS(*mapMsg, poses, links, signatures, mapToOdom);

        stat.setMapCorrection(mapToOdom);
        stat.setPoses(poses);
        if(signatures.size())
        {
                stat.setLastSignatureData(signatures.rbegin()->second);
        }
        stat.setConstraints(links);

        this->post(new RtabmapEvent(stat));
}

void GuiWrapper::goalPathCallback(
                const rtabmap_ros::GoalConstPtr & goalMsg,
                const nav_msgs::PathConstPtr & pathMsg)
{
        // we don't have the node ids, just generate fake ones.
        std::vector<std::pair<int, Transform> > poses(pathMsg->poses.size());
        for(unsigned int i=0; i<pathMsg->poses.size(); ++i)
        {
                poses[i].first = -int(i)-1;
                poses[i].second = rtabmap_ros::transformFromPoseMsg(pathMsg->poses[i].pose);
        }
        this->post(new RtabmapGlobalPathEvent(goalMsg->node_id, goalMsg->node_label, poses, 0.0));
}

void GuiWrapper::goalReachedCallback(
                const std_msgs::BoolConstPtr & value)
{
        this->post(new RtabmapGoalStatusEvent(value->data?1:-1));
}

void GuiWrapper::processRequestedMap(const rtabmap_ros::MapData & map)
{
        std::map<int, Signature> signatures;
        std::map<int, Transform> poses;
        std::multimap<int, rtabmap::Link> constraints;
        Transform mapToOdom;

        rtabmap_ros::mapDataFromROS(map, poses, constraints, signatures, mapToOdom);

        RtabmapEvent3DMap e(signatures,
                                poses,
                                constraints);
        QMetaObject::invokeMethod(mainWindow_, "processRtabmapEvent3DMap", Q_ARG(rtabmap::RtabmapEvent3DMap, e));
}

bool GuiWrapper::handleEvent(UEvent * anEvent)
{
        if(anEvent->getClassName().compare("ParamEvent") == 0)
        {
                const rtabmap::ParametersMap & defaultParameters = rtabmap::Parameters::getDefaultParameters();
                rtabmap::ParametersMap parameters = ((rtabmap::ParamEvent *)anEvent)->getParameters();
                bool modified = false;
                ros::NodeHandle nh;
                for(rtabmap::ParametersMap::iterator i=parameters.begin(); i!=parameters.end(); ++i)
                {
                        //save only parameters with valid names
                        if(defaultParameters.find((*i).first) != defaultParameters.end())
                        {
                                nh.setParam((*i).first, (*i).second);
                                modified = true;
                        }
                        else if((*i).first.find('/') != (*i).first.npos)
                        {
                                ROS_WARN("Parameter %s is not used by the rtabmap node.", (*i).first.c_str());
                        }
                }
                if(modified)
                {
                        ROS_INFO("Parameters updated");
                        std_srvs::Empty srv;
                        if(!ros::service::call("update_parameters", srv))
                        {
                                ROS_ERROR("Can't call \"update_parameters\" service");
                        }
                }
        }
        else if(anEvent->getClassName().compare("RtabmapEventCmd") == 0)
        {
                std_srvs::Empty emptySrv;
                rtabmap::RtabmapEventCmd * cmdEvent = (rtabmap::RtabmapEventCmd *)anEvent;
                rtabmap::RtabmapEventCmd::Cmd cmd = cmdEvent->getCmd();
                if(cmd == rtabmap::RtabmapEventCmd::kCmdResetMemory)
                {
                        if(!ros::service::call("reset", emptySrv))
                        {
                                ROS_ERROR("Can't call \"reset\" service");
                        }
                }
                else if(cmd == rtabmap::RtabmapEventCmd::kCmdPause)
                {
                        // Pause the camera if the rtabmap/camera node is used
                        if(!cameraNodeName_.empty())
                        {
                                std::string str = uFormat("rosrun dynamic_reconfigure dynparam set %s pause true", cameraNodeName_.c_str());
                                if(system(str.c_str()) !=0)
                                {
                                        ROS_ERROR("Command \"%s\" returned non zero value.", str.c_str());
                                }
                        }

                        // Pause visual_odometry
                        ros::service::call("pause_odom", emptySrv);

                        // Pause rtabmap
                        if(!ros::service::call("pause", emptySrv))
                        {
                                ROS_ERROR("Can't call \"pause\" service");
                        }
                }
                else if(cmd == rtabmap::RtabmapEventCmd::kCmdResume)
                {
                        // Resume rtabmap
                        if(!ros::service::call("resume", emptySrv))
                        {
                                ROS_ERROR("Can't call \"resume\" service");
                        }

                        // Pause visual_odometry
                        ros::service::call("resume_odom", emptySrv);

                        // Resume the camera if the rtabmap/camera node is used
                        if(!cameraNodeName_.empty())
                        {
                                std::string str = uFormat("rosrun dynamic_reconfigure dynparam set %s pause false", cameraNodeName_.c_str());
                                if(system(str.c_str()) !=0)
                                {
                                        ROS_ERROR("Command \"%s\" returned non zero value.", str.c_str());
                                }
                        }
                }
                else if(cmd == rtabmap::RtabmapEventCmd::kCmdTriggerNewMap)
                {
                        if(!ros::service::call("trigger_new_map", emptySrv))
                        {
                                ROS_ERROR("Can't call \"trigger_new_map\" service");
                        }
                }
                else if(cmd == rtabmap::RtabmapEventCmd::kCmdPublish3DMap)
                {
                        UASSERT(cmdEvent->value1().isBool());
                        UASSERT(cmdEvent->value2().isBool());
                        UASSERT(cmdEvent->value3().isBool());

                        rtabmap_ros::GetMap getMapSrv;
                        getMapSrv.request.global = cmdEvent->value1().toBool();
                        getMapSrv.request.optimized = cmdEvent->value2().toBool();
                        getMapSrv.request.graphOnly = cmdEvent->value3().toBool();
                        if(!ros::service::call("get_map_data", getMapSrv))
                        {
                                ROS_WARN("Can't call \"get_map_data\" service");
                                this->post(new RtabmapEvent3DMap(1)); // service error
                        }
                        else
                        {
                                processRequestedMap(getMapSrv.response.data);
                        }
                }
                else if(cmd == rtabmap::RtabmapEventCmd::kCmdGoal)
                {
                        UASSERT(cmdEvent->value1().isStr() || cmdEvent->value1().isInt() || cmdEvent->value1().isUInt());
                        rtabmap_ros::SetGoal setGoalSrv;
                        setGoalSrv.request.node_id = !cmdEvent->value1().isStr()?cmdEvent->value1().toInt():0;
                        setGoalSrv.request.node_label = cmdEvent->value1().isStr()?cmdEvent->value1().toStr():"";
                        if(!ros::service::call("set_goal", setGoalSrv))
                        {
                                ROS_ERROR("Can't call \"set_goal\" service");
                        }
                        else
                        {
                                UASSERT(setGoalSrv.response.path_ids.size() == setGoalSrv.response.path_poses.size());
                                std::vector<std::pair<int, Transform> > poses(setGoalSrv.response.path_poses.size());
                                for(unsigned int i=0; i<setGoalSrv.response.path_poses.size(); ++i)
                                {
                                        poses[i].first = setGoalSrv.response.path_ids[i];
                                        poses[i].second = rtabmap_ros::transformFromPoseMsg(setGoalSrv.response.path_poses[i]);
                                }
                                this->post(new RtabmapGlobalPathEvent(setGoalSrv.request.node_id, setGoalSrv.request.node_label, poses, setGoalSrv.response.planning_time));
                        }
                }
                else if(cmd == rtabmap::RtabmapEventCmd::kCmdCancelGoal)
                {
                        if(!ros::service::call("cancel_goal", emptySrv))
                        {
                                ROS_ERROR("Can't call \"cancel_goal\" service");
                        }
                }
                else if(cmd == rtabmap::RtabmapEventCmd::kCmdLabel)
                {
                        UASSERT(cmdEvent->value1().isStr());
                        UASSERT(cmdEvent->value2().isUndef() || cmdEvent->value2().isInt() || cmdEvent->value2().isUInt());
                        rtabmap_ros::SetLabel setLabelSrv;
                        setLabelSrv.request.node_label = cmdEvent->value1().toStr();
                        setLabelSrv.request.node_id = cmdEvent->value2().isUndef()?0:cmdEvent->value2().toInt();
                        if(!ros::service::call("set_label", setLabelSrv))
                        {
                                ROS_ERROR("Can't call \"set_label\" service");
                        }
                }
                else
                {
                        ROS_WARN("Not handled command (%d)...", cmd);
                }
        }
        else if(anEvent->getClassName().compare("OdometryResetEvent") == 0)
        {
                std_srvs::Empty srv;
                if(!ros::service::call("reset_odom", srv))
                {
                        ROS_ERROR("Can't call \"reset_odom\" service, (will only work with rtabmap/visual_odometry node.)");
                }
        }
        return false;
}

void GuiWrapper::commonDepthCallback(
                const nav_msgs::OdometryConstPtr & odomMsg,
                const rtabmap_ros::UserDataConstPtr & userDataMsg,
                const std::vector<cv_bridge::CvImageConstPtr> & imageMsgs,
                const std::vector<cv_bridge::CvImageConstPtr> & depthMsgs,
                const std::vector<sensor_msgs::CameraInfo> & cameraInfoMsgs,
                const sensor_msgs::LaserScan& scan2dMsg,
                const sensor_msgs::PointCloud2& scan3dMsg,
                const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg,
                const std::vector<rtabmap_ros::GlobalDescriptor> & globalDescriptorMsgs,
                const std::vector<std::vector<rtabmap_ros::KeyPoint> > & localKeyPoints,
                const std::vector<std::vector<rtabmap_ros::Point3f> > & localPoints3d,
                const std::vector<cv::Mat> & localDescriptors)
{
        UASSERT(imageMsgs.size() == 0 || (imageMsgs.size() == cameraInfoMsgs.size()));

        std_msgs::Header odomHeader;
        if(odomMsg.get())
        {
                odomHeader = odomMsg->header;
        }
        else
        {
                if(!scan2dMsg.ranges.empty())
                {
                        odomHeader = scan2dMsg.header;
                }
                else if(!scan3dMsg.data.empty())
                {
                        odomHeader = scan3dMsg.header;
                }
                else if(cameraInfoMsgs.size())
                {
                        odomHeader = cameraInfoMsgs[0].header;
                }
                else if(depthMsgs.size() && depthMsgs[0].get())
                {
                        odomHeader = depthMsgs[0]->header;
                }
                else if(imageMsgs.size() && imageMsgs[0].get())
                {
                        odomHeader = imageMsgs[0]->header;
                }
                odomHeader.frame_id = odomFrameId_;
        }

        Transform odomT = rtabmap_ros::getTransform(odomHeader.frame_id, frameId_, odomHeader.stamp, tfListener_, waitForTransform_?waitForTransformDuration_:0);
        cv::Mat covariance = cv::Mat::eye(6,6,CV_64FC1);
        if(odomMsg.get())
        {
                UASSERT(odomMsg->twist.covariance.size() == 36);
                if(odomMsg->twist.covariance[0] != 0 &&
                         odomMsg->twist.covariance[7] != 0 &&
                         odomMsg->twist.covariance[14] != 0 &&
                         odomMsg->twist.covariance[21] != 0 &&
                         odomMsg->twist.covariance[28] != 0 &&
                         odomMsg->twist.covariance[35] != 0)
                {
                        covariance = cv::Mat(6,6,CV_64FC1,(void*)odomMsg->twist.covariance.data()).clone();
                }
        }
        else if(odomInfoMsg.get() && odomInfoMsg->covariance.size() == 36)
        {
                if(odomInfoMsg->covariance[0] != 0 &&
                         odomInfoMsg->covariance[7] != 0 &&
                         odomInfoMsg->covariance[14] != 0 &&
                         odomInfoMsg->covariance[21] != 0 &&
                         odomInfoMsg->covariance[28] != 0 &&
                         odomInfoMsg->covariance[35] != 0)
                {
                        covariance = cv::Mat(6,6,CV_64FC1,(void*)odomInfoMsg->covariance.data()).clone();
                }
        }
        if(odomHeader.frame_id.empty())
        {
                ROS_ERROR("Odometry frame not set!?");
                return;
        }

        cv::Mat rgb;
        cv::Mat depth;
        std::vector<CameraModel> cameraModels;
        LaserScan scan;
        rtabmap::OdometryInfo info;
        bool ignoreData = false;

        // limit update rate
        if(maxOdomUpdateRate_<=0.0 ||
           (UTimer::now() - lastOdomInfoUpdateTime_ > 1.0/maxOdomUpdateRate_ &&
           !mainWindow_->isProcessingOdometry() &&
           !mainWindow_->isProcessingStatistics()))
        {
                lastOdomInfoUpdateTime_ = UTimer::now();

                if(imageMsgs.size() && imageMsgs[0].get() && depthMsgs.size() && depthMsgs[0].get())
                {
                        if(!rtabmap_ros::convertRGBDMsgs(
                                        imageMsgs,
                                        depthMsgs,
                                        cameraInfoMsgs,
                                        frameId_,
                                        odomSensorSync_?odomHeader.frame_id:"",
                                        odomHeader.stamp,
                                        rgb,
                                        depth,
                                        cameraModels,
                                        tfListener_,
                                        waitForTransform_?waitForTransformDuration_:0.0))
                        {
                                ROS_ERROR("Could not convert rgb/depth msgs! Aborting rtabmapviz update...");
                                return;
                        }
                }

                if(!scan2dMsg.ranges.empty())
                {
                        if(!rtabmap_ros::convertScanMsg(
                                        scan2dMsg,
                                        frameId_,
                                        odomSensorSync_?odomHeader.frame_id:"",
                                        odomHeader.stamp,
                                        scan,
                                        tfListener_,
                                        waitForTransform_?waitForTransformDuration_:0))
                        {
                                ROS_ERROR("Could not convert laser scan msg! Aborting rtabmapviz update...");
                                return;
                        }
                }
                else if(!scan3dMsg.data.empty())
                {
                        if(!rtabmap_ros::convertScan3dMsg(
                                        scan3dMsg,
                                        frameId_,
                                        odomSensorSync_?odomHeader.frame_id:"",
                                        odomHeader.stamp,
                                        scan,
                                        tfListener_,
                                        waitForTransform_?waitForTransformDuration_:0))
                        {
                                ROS_ERROR("Could not convert 3d laser scan msg! Aborting rtabmapviz update...");
                                return;
                        }
                }

                if(odomInfoMsg.get())
                {
                        info = rtabmap_ros::odomInfoFromROS(*odomInfoMsg);
                }
                ignoreData = false;
        }
        else if(odomInfoMsg.get())
        {
                info = rtabmap_ros::odomInfoFromROS(*odomInfoMsg).copyWithoutData();
                ignoreData = true;
        }
        else
        {
                // don't update GUI odom stuff if we don't use visual odometry
                return;
        }

        info.reg.covariance = covariance;
        rtabmap::OdometryEvent odomEvent(
                rtabmap::SensorData(
                                scan,
                                rgb,
                                depth,
                                cameraModels,
                                odomHeader.seq,
                                rtabmap_ros::timestampFromROS(odomHeader.stamp)),
                odomMsg.get()?rtabmap_ros::transformFromPoseMsg(odomMsg->pose.pose):odomT,
                info);

        QMetaObject::invokeMethod(mainWindow_, "processOdometry", Q_ARG(rtabmap::OdometryEvent, odomEvent), Q_ARG(bool, ignoreData));
}

void GuiWrapper::commonStereoCallback(
                const nav_msgs::OdometryConstPtr & odomMsg,
                const rtabmap_ros::UserDataConstPtr & userDataMsg,
                const cv_bridge::CvImageConstPtr& leftImageMsg,
                const cv_bridge::CvImageConstPtr& rightImageMsg,
                const sensor_msgs::CameraInfo& leftCamInfoMsg,
                const sensor_msgs::CameraInfo& rightCamInfoMsg,
                const sensor_msgs::LaserScan& scan2dMsg,
                const sensor_msgs::PointCloud2& scan3dMsg,
                const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg,
                const std::vector<rtabmap_ros::GlobalDescriptor> & globalDescriptorMsgs,
                const std::vector<rtabmap_ros::KeyPoint> & localKeyPoints,
                const std::vector<rtabmap_ros::Point3f> & localPoints3d,
                const cv::Mat & localDescriptors)
{
        std_msgs::Header odomHeader;
        if(odomMsg.get())
        {
                odomHeader = odomMsg->header;
        }
        else
        {
                if(!scan2dMsg.ranges.empty())
                {
                        odomHeader = scan2dMsg.header;
                }
                else if(!scan3dMsg.data.empty())
                {
                        odomHeader = scan3dMsg.header;
                }
                else
                {
                        odomHeader = leftCamInfoMsg.header;
                }
                odomHeader.frame_id = odomFrameId_;
        }

        Transform odomT = rtabmap_ros::getTransform(odomHeader.frame_id, frameId_, odomHeader.stamp, tfListener_, waitForTransform_?waitForTransformDuration_:0);
        cv::Mat covariance = cv::Mat::eye(6,6,CV_64FC1);
        if(odomMsg.get())
        {
                UASSERT(odomMsg->twist.covariance.size() == 36);
                if(odomMsg->twist.covariance[0] != 0 &&
                         odomMsg->twist.covariance[7] != 0 &&
                         odomMsg->twist.covariance[14] != 0 &&
                         odomMsg->twist.covariance[21] != 0 &&
                         odomMsg->twist.covariance[28] != 0 &&
                         odomMsg->twist.covariance[35] != 0)
                {
                        covariance = cv::Mat(6,6,CV_64FC1,(void*)odomMsg->twist.covariance.data()).clone();
                }
        }
        else if(odomInfoMsg.get() && odomInfoMsg->covariance.size() == 36)
        {
                if(odomInfoMsg->covariance[0] != 0 &&
                         odomInfoMsg->covariance[7] != 0 &&
                         odomInfoMsg->covariance[14] != 0 &&
                         odomInfoMsg->covariance[21] != 0 &&
                         odomInfoMsg->covariance[28] != 0 &&
                         odomInfoMsg->covariance[35] != 0)
                {
                        covariance = cv::Mat(6,6,CV_64FC1,(void*)odomInfoMsg->covariance.data()).clone();
                }
        }
        if(odomHeader.frame_id.empty())
        {
                ROS_ERROR("Odometry frame not set!?");
                return;
        }

        cv::Mat left;
        cv::Mat right;
        LaserScan scan;
        rtabmap::StereoCameraModel stereoModel;
        rtabmap::OdometryInfo info;
        bool ignoreData = false;

        // limit update rate
        if(maxOdomUpdateRate_<=0.0 ||
           (UTimer::now() - lastOdomInfoUpdateTime_ > 1.0/maxOdomUpdateRate_ &&
           !mainWindow_->isProcessingOdometry() &&
           !mainWindow_->isProcessingStatistics()))
        {
                lastOdomInfoUpdateTime_ = UTimer::now();

                if(!rtabmap_ros::convertStereoMsg(
                                leftImageMsg,
                                rightImageMsg,
                                leftCamInfoMsg,
                                rightCamInfoMsg,
                                frameId_,
                                odomSensorSync_?odomHeader.frame_id:"",
                                odomHeader.stamp,
                                left,
                                right,
                                stereoModel,
                                tfListener_,
                                waitForTransform_?waitForTransformDuration_:0.0,
                                true))
                {
                        ROS_ERROR("Could not convert stereo msgs! Aborting rtabmapviz update...");
                        return;
                }

                if(!scan2dMsg.ranges.empty())
                {
                        if(!rtabmap_ros::convertScanMsg(
                                        scan2dMsg,
                                        frameId_,
                                        odomSensorSync_?odomHeader.frame_id:"",
                                        odomHeader.stamp,
                                        scan,
                                        tfListener_,
                                        waitForTransform_?waitForTransformDuration_:0))
                        {
                                ROS_ERROR("Could not convert laser scan msg! Aborting rtabmapviz update...");
                                return;
                        }
                }
                else if(!scan3dMsg.data.empty())
                {
                        if(!rtabmap_ros::convertScan3dMsg(
                                        scan3dMsg,
                                        frameId_,
                                        odomSensorSync_?odomHeader.frame_id:"",
                                        odomHeader.stamp,
                                        scan,
                                        tfListener_,
                                        waitForTransform_?waitForTransformDuration_:0))
                        {
                                ROS_ERROR("Could not convert 3d laser scan msg! Aborting rtabmapviz update...");
                                return;
                        }
                }

                if(odomInfoMsg.get())
                {
                        info = rtabmap_ros::odomInfoFromROS(*odomInfoMsg);
                }
                ignoreData = false;
        }
        else if(odomInfoMsg.get())
        {
                info = rtabmap_ros::odomInfoFromROS(*odomInfoMsg).copyWithoutData();
                ignoreData = true;
        }
        else
        {
                // don't update GUI odom stuff if we don't use visual odometry
                return;
        }

        info.reg.covariance = covariance;
        rtabmap::OdometryEvent odomEvent(
                rtabmap::SensorData(
                                scan,
                                left,
                                right,
                                stereoModel,
                                odomHeader.seq,
                                rtabmap_ros::timestampFromROS(odomHeader.stamp)),
                odomMsg.get()?rtabmap_ros::transformFromPoseMsg(odomMsg->pose.pose):odomT,
                info);

        QMetaObject::invokeMethod(mainWindow_, "processOdometry", Q_ARG(rtabmap::OdometryEvent, odomEvent), Q_ARG(bool, ignoreData));
}

void GuiWrapper::commonLaserScanCallback(
                const nav_msgs::OdometryConstPtr & odomMsg,
                const rtabmap_ros::UserDataConstPtr & userDataMsg,
                const sensor_msgs::LaserScan& scan2dMsg,
                const sensor_msgs::PointCloud2& scan3dMsg,
                const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg,
                const rtabmap_ros::GlobalDescriptor & globalDescriptor)
{
        std_msgs::Header odomHeader;
        if(odomMsg.get())
        {
                odomHeader = odomMsg->header;
        }
        else
        {
                if(!scan2dMsg.ranges.empty())
                {
                        odomHeader = scan2dMsg.header;
                }
                else if(!scan3dMsg.data.empty())
                {
                        odomHeader = scan3dMsg.header;
                }
                else
                {
                        return;
                }
                odomHeader.frame_id = odomFrameId_;
        }

        Transform odomT = rtabmap_ros::getTransform(odomHeader.frame_id, frameId_, odomHeader.stamp, tfListener_, waitForTransform_?waitForTransformDuration_:0);
        cv::Mat covariance = cv::Mat::eye(6,6,CV_64FC1);
        if(odomMsg.get())
        {
                UASSERT(odomMsg->twist.covariance.size() == 36);
                if(odomMsg->twist.covariance[0] != 0 &&
                         odomMsg->twist.covariance[7] != 0 &&
                         odomMsg->twist.covariance[14] != 0 &&
                         odomMsg->twist.covariance[21] != 0 &&
                         odomMsg->twist.covariance[28] != 0 &&
                         odomMsg->twist.covariance[35] != 0)
                {
                        covariance = cv::Mat(6,6,CV_64FC1,(void*)odomMsg->twist.covariance.data()).clone();
                }
        }
        else if(odomInfoMsg.get() && odomInfoMsg->covariance.size() == 36)
        {
                if(odomInfoMsg->covariance[0] != 0 &&
                         odomInfoMsg->covariance[7] != 0 &&
                         odomInfoMsg->covariance[14] != 0 &&
                         odomInfoMsg->covariance[21] != 0 &&
                         odomInfoMsg->covariance[28] != 0 &&
                         odomInfoMsg->covariance[35] != 0)
                {
                        covariance = cv::Mat(6,6,CV_64FC1,(void*)odomInfoMsg->covariance.data()).clone();
                }
        }
        if(odomHeader.frame_id.empty())
        {
                ROS_ERROR("Odometry frame not set!?");
                return;
        }

        LaserScan scan;
        rtabmap::OdometryInfo info;
        bool ignoreData = false;
        Transform fakeCameraLocalTransform;

        // limit update rate
        if(maxOdomUpdateRate_<=0.0 ||
           (UTimer::now() - lastOdomInfoUpdateTime_ > 1.0/maxOdomUpdateRate_ &&
           !mainWindow_->isProcessingOdometry() &&
           !mainWindow_->isProcessingStatistics()))
        {
                lastOdomInfoUpdateTime_ = UTimer::now();

                if(!scan2dMsg.ranges.empty())
                {
                        if(!rtabmap_ros::convertScanMsg(
                                        scan2dMsg,
                                        frameId_,
                                        odomSensorSync_?odomHeader.frame_id:"",
                                        odomHeader.stamp,
                                        scan,
                                        tfListener_,
                                        waitForTransform_?waitForTransformDuration_:0))
                        {
                                ROS_ERROR("Could not convert laser scan msg! Aborting rtabmapviz update...");
                                return;
                        }
                }
                else if(!scan3dMsg.data.empty())
                {
                        if(!rtabmap_ros::convertScan3dMsg(
                                        scan3dMsg,
                                        frameId_,
                                        odomSensorSync_?odomHeader.frame_id:"",
                                        odomHeader.stamp,
                                        scan,
                                        tfListener_,
                                        waitForTransform_?waitForTransformDuration_:0))
                        {
                                ROS_ERROR("Could not convert 3d laser scan msg! Aborting rtabmapviz update...");
                                return;
                        }
                }

                if(odomInfoMsg.get())
                {
                        info = rtabmap_ros::odomInfoFromROS(*odomInfoMsg);
                }
                ignoreData = false;
        }
        else if(odomInfoMsg.get())
        {
                //just get scan local transform to adjust camera frame
                if(!scan2dMsg.ranges.empty())
                {
                        fakeCameraLocalTransform = getTransform(frameId_, scan2dMsg.header.frame_id, scan2dMsg.header.stamp, tfListener_, waitForTransform_?waitForTransformDuration_:0);
                }
                else if(!scan3dMsg.data.empty())
                {
                        fakeCameraLocalTransform = getTransform(frameId_, scan3dMsg.header.frame_id, scan3dMsg.header.stamp, tfListener_, waitForTransform_?waitForTransformDuration_:0);
                }

                info = rtabmap_ros::odomInfoFromROS(*odomInfoMsg).copyWithoutData();
                ignoreData = true;
        }
        else
        {
                // don't update GUI odom stuff if we don't use visual odometry
                return;
        }

        cv::Mat rgb;
        cv::Mat depth;
        CameraModel model(
                        2,
                        2,
                        2,
                        1.5,
                        (fakeCameraLocalTransform.isNull()?scan.localTransform():fakeCameraLocalTransform)*Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0),
                        0,
                        cv::Size(4,3));

        info.reg.covariance = covariance;
        rtabmap::OdometryEvent odomEvent(
                rtabmap::SensorData(
                                scan,
                                rgb,
                                depth,
                                model,
                                odomHeader.seq,
                                rtabmap_ros::timestampFromROS(odomHeader.stamp)),
                odomMsg.get()?rtabmap_ros::transformFromPoseMsg(odomMsg->pose.pose):odomT,
                info);

        QMetaObject::invokeMethod(mainWindow_, "processOdometry", Q_ARG(rtabmap::OdometryEvent, odomEvent), Q_ARG(bool, ignoreData));
}

void GuiWrapper::commonOdomCallback(
                const nav_msgs::OdometryConstPtr & odomMsg,
                const rtabmap_ros::UserDataConstPtr & userDataMsg,
                const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
{
        UASSERT(odomMsg.get());

        std_msgs::Header odomHeader = odomMsg->header;

        Transform odomT = rtabmap_ros::getTransform(odomHeader.frame_id, frameId_, odomHeader.stamp, tfListener_, waitForTransform_?waitForTransformDuration_:0);
        cv::Mat covariance = cv::Mat::eye(6,6,CV_64FC1);
        if(odomMsg.get())
        {
                UASSERT(odomMsg->twist.covariance.size() == 36);
                if(odomMsg->twist.covariance[0] != 0 &&
                         odomMsg->twist.covariance[7] != 0 &&
                         odomMsg->twist.covariance[14] != 0 &&
                         odomMsg->twist.covariance[21] != 0 &&
                         odomMsg->twist.covariance[28] != 0 &&
                         odomMsg->twist.covariance[35] != 0)
                {
                        covariance = cv::Mat(6,6,CV_64FC1,(void*)odomMsg->twist.covariance.data()).clone();
                }
        }
        if(odomHeader.frame_id.empty())
        {
                ROS_ERROR("Odometry frame not set!?");
                return;
        }

        rtabmap::OdometryInfo info;
        bool ignoreData = false;

        // limit update rate
        if(maxOdomUpdateRate_<=0.0 ||
           (UTimer::now() - lastOdomInfoUpdateTime_ > 1.0/maxOdomUpdateRate_ &&
           !mainWindow_->isProcessingOdometry() &&
           !mainWindow_->isProcessingStatistics()))
        {
                lastOdomInfoUpdateTime_ = UTimer::now();

                if(odomInfoMsg.get())
                {
                        info = rtabmap_ros::odomInfoFromROS(*odomInfoMsg);
                }
                ignoreData = false;
        }
        else if(odomInfoMsg.get())
        {
                info = rtabmap_ros::odomInfoFromROS(*odomInfoMsg).copyWithoutData();
                ignoreData = true;
        }
        else
        {
                // don't update GUI odom stuff if we don't use visual odometry
                return;
        }

        cv::Mat rgb;
        cv::Mat depth;
        CameraModel model(
                        2,
                        2,
                        2,
                        1.5,
                        Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0),
                        0,
                        cv::Size(4,3));

        info.reg.covariance = covariance;
        rtabmap::OdometryEvent odomEvent(
                rtabmap::SensorData(
                                rgb,
                                depth,
                                model,
                                odomHeader.seq,
                                rtabmap_ros::timestampFromROS(odomHeader.stamp)),
                odomMsg.get()?rtabmap_ros::transformFromPoseMsg(odomMsg->pose.pose):odomT,
                info);

        QMetaObject::invokeMethod(mainWindow_, "processOdometry", Q_ARG(rtabmap::OdometryEvent, odomEvent), Q_ARG(bool, ignoreData));
}

}