OdometryROS.cpp

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

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      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.

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#include "rtabmap_ros/OdometryROS.h"

#include <sensor_msgs/Image.h>
#include <sensor_msgs/image_encodings.h>
#include <sensor_msgs/PointCloud2.h>
#include <nav_msgs/Odometry.h>

#include <pcl_conversions/pcl_conversions.h>

#include <cv_bridge/cv_bridge.h>

#include <rtabmap/core/Rtabmap.h>
#include <rtabmap/core/OdometryF2M.h>
#include <rtabmap/core/OdometryF2F.h>
#include <rtabmap/core/util3d.h>
#include <rtabmap/core/util3d_transforms.h>
#include <rtabmap/core/Memory.h>
#include <rtabmap/core/Signature.h>
#include "rtabmap_ros/MsgConversion.h"
#include "rtabmap_ros/OdomInfo.h"
#include "rtabmap/utilite/UConversion.h"
#include "rtabmap/utilite/ULogger.h"
#include "rtabmap/utilite/UStl.h"
#include "rtabmap/utilite/UFile.h"
#include "rtabmap/utilite/UMath.h"

#define BAD_COVARIANCE 9999

using namespace rtabmap;

namespace rtabmap_ros {

OdometryROS::OdometryROS(bool stereoParams, bool visParams, bool icpParams) :
        odometry_(0),
        warningThread_(0),
        callbackCalled_(false),
        frameId_("base_link"),
        odomFrameId_("odom"),
        groundTruthFrameId_(""),
        groundTruthBaseFrameId_(""),
        guessFrameId_(""),
        guessMinTranslation_(0.0),
        guessMinRotation_(0.0),
        publishTf_(true),
        waitForTransform_(true),
        waitForTransformDuration_(0.1), // 100 ms
        publishNullWhenLost_(true),
        paused_(false),
        resetCountdown_(0),
        resetCurrentCount_(0),
        stereoParams_(stereoParams),
        visParams_(visParams),
        icpParams_(icpParams),
        guessStamp_(0.0)
{

}

OdometryROS::~OdometryROS()
{
        if(warningThread_)
        {
                callbackCalled();
                warningThread_->join();
                delete warningThread_;
        }
        ros::NodeHandle & pnh = getPrivateNodeHandle();
        if(pnh.ok())
        {
                for(ParametersMap::iterator iter=parameters_.begin(); iter!=parameters_.end(); ++iter)
                {
                        pnh.deleteParam(iter->first);
                }
        }

        delete odometry_;
}

void OdometryROS::onInit()
{
        ros::NodeHandle & nh = getNodeHandle();
        ros::NodeHandle & pnh = getPrivateNodeHandle();

        odomPub_ = nh.advertise<nav_msgs::Odometry>("odom", 1);
        odomInfoPub_ = nh.advertise<rtabmap_ros::OdomInfo>("odom_info", 1);
        odomLocalMap_ = nh.advertise<sensor_msgs::PointCloud2>("odom_local_map", 1);
        odomLocalScanMap_ = nh.advertise<sensor_msgs::PointCloud2>("odom_local_scan_map", 1);
        odomLastFrame_ = nh.advertise<sensor_msgs::PointCloud2>("odom_last_frame", 1);

        Transform initialPose = Transform::getIdentity();
        std::string initialPoseStr;
        std::string configPath;
        pnh.param("frame_id", frameId_, frameId_);
        pnh.param("odom_frame_id", odomFrameId_, odomFrameId_);
        pnh.param("publish_tf", publishTf_, publishTf_);
        if(pnh.hasParam("tf_prefix"))
        {
                NODELET_ERROR("tf_prefix parameter has been removed, use directly odom_frame_id and frame_id parameters.");
        }
        pnh.param("wait_for_transform", waitForTransform_, waitForTransform_);
        pnh.param("wait_for_transform_duration",  waitForTransformDuration_, waitForTransformDuration_);
        pnh.param("initial_pose", initialPoseStr, initialPoseStr); // "x y z roll pitch yaw"
        pnh.param("ground_truth_frame_id", groundTruthFrameId_, groundTruthFrameId_);
        pnh.param("ground_truth_base_frame_id", groundTruthBaseFrameId_, frameId_);
        pnh.param("config_path", configPath, configPath);
        pnh.param("publish_null_when_lost", publishNullWhenLost_, publishNullWhenLost_);
        if(pnh.hasParam("guess_from_tf"))
        {
                if(!pnh.hasParam("guess_frame_id"))
                {
                        NODELET_ERROR("Parameter \"guess_from_tf\" doesn't exist anymore, it is enabled if \"guess_frame_id\" is set.");
                }
                else
                {
                        NODELET_WARN("Parameter \"guess_from_tf\" doesn't exist anymore, it is enabled if \"guess_frame_id\" is set.");
                }
        }
        pnh.param("guess_frame_id", guessFrameId_, guessFrameId_); // odometry guess frame
        pnh.param("guess_min_translation", guessMinTranslation_, guessMinTranslation_);
        pnh.param("guess_min_rotation", guessMinRotation_, guessMinRotation_);

        if(publishTf_ && !guessFrameId_.empty() && guessFrameId_.compare(odomFrameId_) == 0)
        {
                NODELET_WARN( "\"publish_tf\" and \"guess_frame_id\" cannot be used "
                                "at the same time if \"guess_frame_id\" and \"odom_frame_id\" "
                                "are the same frame (value=\"%s\"). \"guess_frame_id\" is disabled.", odomFrameId_.c_str());
                guessFrameId_.clear();
        }
        NODELET_INFO("Odometry: frame_id               = %s", frameId_.c_str());
        NODELET_INFO("Odometry: odom_frame_id          = %s", odomFrameId_.c_str());
        NODELET_INFO("Odometry: publish_tf             = %s", publishTf_?"true":"false");
        NODELET_INFO("Odometry: wait_for_transform     = %s", waitForTransform_?"true":"false");
        NODELET_INFO("Odometry: wait_for_transform_duration  = %f", waitForTransformDuration_);
        NODELET_INFO("Odometry: initial_pose           = %s", initialPose.prettyPrint().c_str());
        NODELET_INFO("Odometry: ground_truth_frame_id  = %s", groundTruthFrameId_.c_str());
        NODELET_INFO("Odometry: ground_truth_base_frame_id = %s", groundTruthBaseFrameId_.c_str());
        NODELET_INFO("Odometry: config_path            = %s", configPath.c_str());
        NODELET_INFO("Odometry: publish_null_when_lost = %s", publishNullWhenLost_?"true":"false");
        NODELET_INFO("Odometry: guess_frame_id         = %s", guessFrameId_.c_str());
        NODELET_INFO("Odometry: guess_min_translation  = %f", guessMinTranslation_);
        NODELET_INFO("Odometry: guess_min_rotation     = %f", guessMinRotation_);

        configPath = uReplaceChar(configPath, '~', UDirectory::homeDir());
        if(configPath.size() && configPath.at(0) != '/')
        {
                configPath = UDirectory::currentDir(true) + configPath;
        }

        if(initialPoseStr.size())
        {
                std::vector<std::string> values = uListToVector(uSplit(initialPoseStr, ' '));
                if(values.size() == 6)
                {
                        initialPose = Transform(
                                        uStr2Float(values[0]), uStr2Float(values[1]), uStr2Float(values[2]),
                                        uStr2Float(values[3]), uStr2Float(values[4]), uStr2Float(values[5]));
                }
                else
                {
                        NODELET_ERROR( "Wrong initial_pose format: %s (should be \"x y z roll pitch yaw\" with angle in radians). "
                                          "Identity will be used...", initialPoseStr.c_str());
                }
        }


        //parameters
        parameters_ = Parameters::getDefaultOdometryParameters(stereoParams_, visParams_, icpParams_);
        parameters_.insert(*Parameters::getDefaultParameters().find(Parameters::kRtabmapImagesAlreadyRectified()));
        if(!configPath.empty())
        {
                if(UFile::exists(configPath.c_str()))
                {
                        NODELET_INFO( "Odometry: Loading parameters from %s", configPath.c_str());
                        rtabmap::ParametersMap allParameters;
                        Parameters::readINI(configPath.c_str(), allParameters);
                        // only update odometry parameters
                        for(ParametersMap::iterator iter=parameters_.begin(); iter!=parameters_.end(); ++iter)
                        {
                                ParametersMap::iterator jter = allParameters.find(iter->first);
                                if(jter!=allParameters.end())
                                {
                                        iter->second = jter->second;
                                }
                        }
                }
                else
                {
                        NODELET_ERROR( "Config file \"%s\" not found!", configPath.c_str());
                }
        }
        for(rtabmap::ParametersMap::iterator iter=parameters_.begin(); iter!=parameters_.end(); ++iter)
        {
                std::string vStr;
                bool vBool;
                int vInt;
                double vDouble;
                if(pnh.getParam(iter->first, vStr))
                {
                        NODELET_INFO( "Setting odometry parameter \"%s\"=\"%s\"", iter->first.c_str(), vStr.c_str());
                        iter->second = vStr;
                }
                else if(pnh.getParam(iter->first, vBool))
                {
                        NODELET_INFO( "Setting odometry parameter \"%s\"=\"%s\"", iter->first.c_str(), uBool2Str(vBool).c_str());
                        iter->second = uBool2Str(vBool);
                }
                else if(pnh.getParam(iter->first, vDouble))
                {
                        NODELET_INFO( "Setting odometry parameter \"%s\"=\"%s\"", iter->first.c_str(), uNumber2Str(vDouble).c_str());
                        iter->second = uNumber2Str(vDouble);
                }
                else if(pnh.getParam(iter->first, vInt))
                {
                        NODELET_INFO( "Setting odometry parameter \"%s\"=\"%s\"", iter->first.c_str(), uNumber2Str(vInt).c_str());
                        iter->second = uNumber2Str(vInt);
                }

                if(iter->first.compare(Parameters::kVisMinInliers()) == 0 && atoi(iter->second.c_str()) < 8)
                {
                        NODELET_WARN( "Parameter min_inliers must be >= 8, setting to 8...");
                        iter->second = uNumber2Str(8);
                }
        }

        std::vector<std::string> argList = getMyArgv();
        char * argv[argList.size()];
        for(unsigned int i=0; i<argList.size(); ++i)
        {
                argv[i] = &argList[i].at(0);
        }

        rtabmap::ParametersMap parameters = rtabmap::Parameters::parseArguments(argList.size(), argv);
        for(rtabmap::ParametersMap::iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
        {
                rtabmap::ParametersMap::iterator jter = parameters_.find(iter->first);
                if(jter!=parameters_.end())
                {
                        NODELET_INFO( "Update odometry parameter \"%s\"=\"%s\" from arguments", iter->first.c_str(), iter->second.c_str());
                        jter->second = iter->second;
                }
        }

        // Backward compatibility
        for(std::map<std::string, std::pair<bool, std::string> >::const_iterator iter=Parameters::getRemovedParameters().begin();
                iter!=Parameters::getRemovedParameters().end();
                ++iter)
        {
                std::string vStr;
                if(pnh.getParam(iter->first, vStr))
                {
                        if(iter->second.first && parameters_.find(iter->second.second) != parameters_.end())
                        {
                                // can be migrated
                                parameters_.at(iter->second.second)= vStr;
                                NODELET_WARN( "Odometry: Parameter name changed: \"%s\" -> \"%s\". Please update your launch file accordingly. Value \"%s\" is still set to the new parameter name.",
                                                iter->first.c_str(), iter->second.second.c_str(), vStr.c_str());
                        }
                        else
                        {
                                if(iter->second.second.empty())
                                {
                                        NODELET_ERROR( "Odometry: Parameter \"%s\" doesn't exist anymore!",
                                                        iter->first.c_str());
                                }
                                else
                                {
                                        NODELET_ERROR( "Odometry: Parameter \"%s\" doesn't exist anymore! You may look at this similar parameter: \"%s\"",
                                                        iter->first.c_str(), iter->second.second.c_str());
                                }
                        }
                }
        }

        Parameters::parse(parameters_, Parameters::kOdomResetCountdown(), resetCountdown_);
        parameters_.at(Parameters::kOdomResetCountdown()) = "0"; // use modified reset countdown here

        this->updateParameters(parameters_);

        odometry_ = Odometry::create(parameters_);
        if(!initialPose.isIdentity())
        {
                odometry_->reset(initialPose);
        }

        resetSrv_ = nh.advertiseService("reset_odom", &OdometryROS::reset, this);
        resetToPoseSrv_ = nh.advertiseService("reset_odom_to_pose", &OdometryROS::resetToPose, this);
        pauseSrv_ = nh.advertiseService("pause_odom", &OdometryROS::pause, this);
        resumeSrv_ = nh.advertiseService("resume_odom", &OdometryROS::resume, this);

        setLogDebugSrv_ = pnh.advertiseService("log_debug", &OdometryROS::setLogDebug, this);
        setLogInfoSrv_ = pnh.advertiseService("log_info", &OdometryROS::setLogInfo, this);
        setLogWarnSrv_ = pnh.advertiseService("log_warning", &OdometryROS::setLogWarn, this);
        setLogErrorSrv_ = pnh.advertiseService("log_error", &OdometryROS::setLogError, this);

        onOdomInit();
}

void OdometryROS::startWarningThread(const std::string & subscribedTopicsMsg, bool approxSync)
{
        warningThread_ = new boost::thread(boost::bind(&OdometryROS::warningLoop, this, subscribedTopicsMsg, approxSync));
        NODELET_INFO("%s", subscribedTopicsMsg.c_str());
}

void OdometryROS::warningLoop(const std::string & subscribedTopicsMsg, bool approxSync)
{
        ros::Duration r(5.0);
        while(!callbackCalled_)
        {
                r.sleep();
                if(!callbackCalled_)
                {
                        ROS_WARN("%s: Did not receive data since 5 seconds! Make sure the input topics are "
                                        "published (\"$ rostopic hz my_topic\") and the timestamps in their "
                                        "header are set. %s%s",
                                        getName().c_str(),
                                        approxSync?"":"Parameter \"approx_sync\" is false, which means that input "
                                                "topics should have all the exact timestamp for the callback to be called.",
                                        subscribedTopicsMsg.c_str());
                }
        }
}

Transform OdometryROS::getTransform(const std::string & fromFrameId, const std::string & toFrameId, const ros::Time & stamp) const
{
        // TF ready?
        Transform transform;
        try
        {
                if(waitForTransform_ && !stamp.isZero() && waitForTransformDuration_ > 0.0)
                {
                        //if(!tfBuffer_.canTransform(fromFrameId, toFrameId, stamp, ros::Duration(1)))
                        std::string errorMsg;
                        if(!tfListener_.waitForTransform(fromFrameId, toFrameId, stamp, ros::Duration(waitForTransformDuration_), ros::Duration(0.01), &errorMsg))
                        {
                                NODELET_WARN( "odometry: Could not get transform from %s to %s (stamp=%f) after %f seconds (\"wait_for_transform_duration\"=%f)! Error=\"%s\"",
                                                fromFrameId.c_str(), toFrameId.c_str(), stamp.toSec(), waitForTransformDuration_, waitForTransformDuration_, errorMsg.c_str());
                                return transform;
                        }
                }

                tf::StampedTransform tmp;
                tfListener_.lookupTransform(fromFrameId, toFrameId, stamp, tmp);
                transform = rtabmap_ros::transformFromTF(tmp);
        }
        catch(tf::TransformException & ex)
        {
                NODELET_WARN( "%s",ex.what());
        }
        return transform;
}

void OdometryROS::processData(const SensorData & data, const ros::Time & stamp)
{
        if(!data.imageRaw().empty())
        {
                if(odometry_->getPose().isIdentity() &&
                   !groundTruthFrameId_.empty())
                {
                        // sync with the first value of the ground truth
                        Transform initialPose = getTransform(groundTruthFrameId_, groundTruthBaseFrameId_, stamp);
                        if(initialPose.isNull())
                        {
                                NODELET_WARN("Ground truth frames \"%s\" -> \"%s\" are set but failed to "
                                                "get them, odometry won't be synchronized with ground truth.",
                                                groundTruthFrameId_.c_str(), groundTruthBaseFrameId_.c_str());
                        }
                        else
                        {
                                NODELET_INFO( "Initializing odometry pose to %s (from \"%s\" -> \"%s\")",
                                                initialPose.prettyPrint().c_str(),
                                                groundTruthFrameId_.c_str(),
                                                groundTruthBaseFrameId_.c_str());
                                odometry_->reset(initialPose);
                        }
                }
        }

        Transform guessCurrentPose;
        if(!guessFrameId_.empty())
        {
                Transform previousPose = this->getTransform(guessFrameId_, frameId_, guessStamp_>0.0?ros::Time(guessStamp_):stamp);
                guessCurrentPose = this->getTransform(guessFrameId_, frameId_, stamp);
                if(!previousPose.isNull() && !guessCurrentPose.isNull())
                {
                        if(guess_.isNull())
                        {
                                guess_ = previousPose.inverse() * guessCurrentPose;
                        }
                        else
                        {
                                guess_ = guess_ * previousPose.inverse() * guessCurrentPose;
                        }
                        if(guessStamp_>0.0 && (guessMinTranslation_ > 0.0 || guessMinRotation_ > 0.0))
                        {
                                float x,y,z,roll,pitch,yaw;
                                guess_.getTranslationAndEulerAngles(x,y,z,roll,pitch,yaw);
                                if((guessMinTranslation_ <= 0.0 || uMax3(fabs(x), fabs(y), fabs(z)) < guessMinTranslation_) &&
                                   (guessMinRotation_ <= 0.0 || uMax3(fabs(roll), fabs(pitch), fabs(yaw)) < guessMinRotation_))
                                {
                                        // Ignore odometry update, we didn't move enough
                                        if(publishTf_)
                                        {
                                                geometry_msgs::TransformStamped correctionMsg;
                                                correctionMsg.child_frame_id = guessFrameId_;
                                                correctionMsg.header.frame_id = odomFrameId_;
                                                correctionMsg.header.stamp = stamp;
                                                Transform correction = odometry_->getPose() * guess_ * guessCurrentPose.inverse();
                                                rtabmap_ros::transformToGeometryMsg(correction, correctionMsg.transform);
                                                tfBroadcaster_.sendTransform(correctionMsg);
                                        }
                                        guessStamp_ = stamp.toSec();
                                        return;
                                }
                        }
                        guessStamp_ = stamp.toSec();
                }
                else
                {
                        NODELET_ERROR("\"guess_from_tf\" is true, but guess cannot be computed between frames \"%s\" -> \"%s\". Aborting odometry update...", guessFrameId_.c_str(), frameId_.c_str());
                        return;
                }
        }

        // process data
        ros::WallTime time = ros::WallTime::now();
        rtabmap::OdometryInfo info;
        SensorData dataCpy = data;
        rtabmap::Transform pose = odometry_->process(dataCpy, guess_, &info);
        guess_.setNull();
        if(!pose.isNull())
        {
                resetCurrentCount_ = resetCountdown_;

                //*********************
                // Update odometry
                //*********************
                geometry_msgs::TransformStamped poseMsg;
                poseMsg.child_frame_id = frameId_;
                poseMsg.header.frame_id = odomFrameId_;
                poseMsg.header.stamp = stamp;
                rtabmap_ros::transformToGeometryMsg(pose, poseMsg.transform);

                if(publishTf_)
                {
                        if(!guessFrameId_.empty())
                        {
                                //publish correction of actual odometry so we have /odom -> /odom_guess -> /base_link
                                geometry_msgs::TransformStamped correctionMsg;
                                correctionMsg.child_frame_id = guessFrameId_;
                                correctionMsg.header.frame_id = odomFrameId_;
                                correctionMsg.header.stamp = stamp;
                                Transform correction = pose * guessCurrentPose.inverse();
                                rtabmap_ros::transformToGeometryMsg(correction, correctionMsg.transform);
                                tfBroadcaster_.sendTransform(correctionMsg);
                        }
                        else
                        {
                                tfBroadcaster_.sendTransform(poseMsg);
                        }
                }

                if(odomPub_.getNumSubscribers())
                {
                        //next, we'll publish the odometry message over ROS
                        nav_msgs::Odometry odom;
                        odom.header.stamp = stamp; // use corresponding time stamp to image
                        odom.header.frame_id = odomFrameId_;
                        odom.child_frame_id = frameId_;

                        //set the position
                        odom.pose.pose.position.x = poseMsg.transform.translation.x;
                        odom.pose.pose.position.y = poseMsg.transform.translation.y;
                        odom.pose.pose.position.z = poseMsg.transform.translation.z;
                        odom.pose.pose.orientation = poseMsg.transform.rotation;

                        //set covariance
                        // libviso2 uses approximately vel variance * 2
                        odom.pose.covariance.at(0) = info.reg.covariance.at<double>(0,0)*2;  // xx
                        odom.pose.covariance.at(7) = info.reg.covariance.at<double>(1,1)*2;  // yy
                        odom.pose.covariance.at(14) = info.reg.covariance.at<double>(2,2)*2; // zz
                        odom.pose.covariance.at(21) = info.reg.covariance.at<double>(3,3)*2; // rr
                        odom.pose.covariance.at(28) = info.reg.covariance.at<double>(4,4)*2; // pp
                        odom.pose.covariance.at(35) = info.reg.covariance.at<double>(5,5)*2; // yawyaw

                        //set velocity
                        bool setTwist = !odometry_->previousVelocityTransform().isNull();
                        if(setTwist)
                        {
                                float x,y,z,roll,pitch,yaw;
                                odometry_->previousVelocityTransform().getTranslationAndEulerAngles(x,y,z,roll,pitch,yaw);
                                odom.twist.twist.linear.x = x;
                                odom.twist.twist.linear.y = y;
                                odom.twist.twist.linear.z = z;
                                odom.twist.twist.angular.x = roll;
                                odom.twist.twist.angular.y = pitch;
                                odom.twist.twist.angular.z = yaw;
                        }

                        odom.twist.covariance.at(0) = setTwist?info.reg.covariance.at<double>(0,0):BAD_COVARIANCE;  // xx
                        odom.twist.covariance.at(7) = setTwist?info.reg.covariance.at<double>(1,1):BAD_COVARIANCE;  // yy
                        odom.twist.covariance.at(14) = setTwist?info.reg.covariance.at<double>(2,2):BAD_COVARIANCE; // zz
                        odom.twist.covariance.at(21) = setTwist?info.reg.covariance.at<double>(3,3):BAD_COVARIANCE; // rr
                        odom.twist.covariance.at(28) = setTwist?info.reg.covariance.at<double>(4,4):BAD_COVARIANCE; // pp
                        odom.twist.covariance.at(35) = setTwist?info.reg.covariance.at<double>(5,5):BAD_COVARIANCE; // yawyaw

                        //publish the message
                        if(setTwist || publishNullWhenLost_)
                        {
                                odomPub_.publish(odom);
                        }
                }

                // local map / reference frame
                if(odomLocalMap_.getNumSubscribers() && !info.localMap.empty())
                {
                        pcl::PointCloud<pcl::PointXYZRGB> cloud;
                        for(std::map<int, cv::Point3f>::const_iterator iter=info.localMap.begin(); iter!=info.localMap.end(); ++iter)
                        {
                                bool inlier = info.words.find(iter->first) != info.words.end();
                                pcl::PointXYZRGB pt(inlier?0:255, 255, 0);
                                pt.x = iter->second.x;
                                pt.y = iter->second.y;
                                pt.z = iter->second.z;
                                cloud.push_back(pt);
                        }
                        sensor_msgs::PointCloud2 cloudMsg;
                        pcl::toROSMsg(cloud, cloudMsg);
                        cloudMsg.header.stamp = stamp; // use corresponding time stamp to image
                        cloudMsg.header.frame_id = odomFrameId_;
                        odomLocalMap_.publish(cloudMsg);
                }

                if(odomLastFrame_.getNumSubscribers())
                {
                        // check which type of Odometry is using
                        if(odometry_->getType() == Odometry::kTypeF2M) // If it's Frame to Map Odometry
                        {
                                const std::multimap<int, cv::Point3f> & words3  = ((OdometryF2M*)odometry_)->getLastFrame().getWords3();
                                if(words3.size())
                                {
                                        pcl::PointCloud<pcl::PointXYZ> cloud;
                                        for(std::multimap<int, cv::Point3f>::const_iterator iter=words3.begin(); iter!=words3.end(); ++iter)
                                        {
                                                // transform to odom frame
                                                cv::Point3f pt = util3d::transformPoint(iter->second, pose);
                                                cloud.push_back(pcl::PointXYZ(pt.x, pt.y, pt.z));
                                        }

                                        sensor_msgs::PointCloud2 cloudMsg;
                                        pcl::toROSMsg(cloud, cloudMsg);
                                        cloudMsg.header.stamp = stamp; // use corresponding time stamp to image
                                        cloudMsg.header.frame_id = odomFrameId_;
                                        odomLastFrame_.publish(cloudMsg);
                                }
                        }
                        else if(odometry_->getType() == Odometry::kTypeF2F) // if Using Frame to Frame Odometry
                        {
                                const Signature & refFrame = ((OdometryF2F*)odometry_)->getRefFrame();

                                if(refFrame.getWords3().size())
                                {
                                        pcl::PointCloud<pcl::PointXYZ> cloud;
                                        for(std::multimap<int, cv::Point3f>::const_iterator iter=refFrame.getWords3().begin(); iter!=refFrame.getWords3().end(); ++iter)
                                        {
                                                // transform to odom frame
                                                cv::Point3f pt = util3d::transformPoint(iter->second, pose);
                                                cloud.push_back(pcl::PointXYZ(pt.x, pt.y, pt.z));
                                        }
                                        sensor_msgs::PointCloud2 cloudMsg;
                                        pcl::toROSMsg(cloud, cloudMsg);
                                        cloudMsg.header.stamp = stamp; // use corresponding time stamp to image
                                        cloudMsg.header.frame_id = odomFrameId_;
                                        odomLastFrame_.publish(cloudMsg);
                                }
                        }
                }

                if(odomLocalScanMap_.getNumSubscribers() && !info.localScanMap.isEmpty())
                {
                        sensor_msgs::PointCloud2 cloudMsg;
                        if(info.localScanMap.hasNormals())
                        {
                                pcl::PointCloud<pcl::PointNormal>::Ptr cloud = util3d::laserScanToPointCloudNormal(info.localScanMap, info.localScanMap.localTransform());
                                pcl::toROSMsg(*cloud, cloudMsg);
                        }
                        else
                        {
                                pcl::PointCloud<pcl::PointXYZ>::Ptr cloud = util3d::laserScanToPointCloud(info.localScanMap, info.localScanMap.localTransform());
                                pcl::toROSMsg(*cloud, cloudMsg);
                        }

                        cloudMsg.header.stamp = stamp; // use corresponding time stamp to image
                        cloudMsg.header.frame_id = odomFrameId_;
                        odomLocalScanMap_.publish(cloudMsg);
                }
        }
        else if(data.imageRaw().empty() && !data.imu().empty())
        {
                return;
        }
        else if(publishNullWhenLost_)
        {
                //NODELET_WARN( "Odometry lost!");

                //send null pose to notify that odometry is lost
                nav_msgs::Odometry odom;
                odom.header.stamp = stamp; // use corresponding time stamp to image
                odom.header.frame_id = odomFrameId_;
                odom.child_frame_id = frameId_;
                odom.pose.covariance.at(0) = BAD_COVARIANCE;  // xx
                odom.pose.covariance.at(7) = BAD_COVARIANCE;  // yy
                odom.pose.covariance.at(14) = BAD_COVARIANCE; // zz
                odom.pose.covariance.at(21) = BAD_COVARIANCE; // rr
                odom.pose.covariance.at(28) = BAD_COVARIANCE; // pp
                odom.pose.covariance.at(35) = BAD_COVARIANCE; // yawyaw
                odom.twist.covariance.at(0) = BAD_COVARIANCE;  // xx
                odom.twist.covariance.at(7) = BAD_COVARIANCE;  // yy
                odom.twist.covariance.at(14) = BAD_COVARIANCE; // zz
                odom.twist.covariance.at(21) = BAD_COVARIANCE; // rr
                odom.twist.covariance.at(28) = BAD_COVARIANCE; // pp
                odom.twist.covariance.at(35) = BAD_COVARIANCE; // yawyaw

                //publish the message
                odomPub_.publish(odom);
        }

        if(pose.isNull() && resetCurrentCount_ > 0)
        {
                NODELET_WARN( "Odometry lost! Odometry will be reset after next %d consecutive unsuccessful odometry updates...", resetCurrentCount_);

                --resetCurrentCount_;
                if(resetCurrentCount_ == 0)
                {
                        // Check TF to see if sensor fusion is used (e.g., the output of robot_localization)
                        Transform tfPose = this->getTransform(odomFrameId_, frameId_, stamp);
                        if(tfPose.isNull())
                        {
                                NODELET_WARN( "Odometry automatically reset to latest computed pose!");
                                odometry_->reset(odometry_->getPose());
                        }
                        else
                        {
                                NODELET_WARN( "Odometry automatically reset to latest odometry pose available from TF (%s->%s)!",
                                                odomFrameId_.c_str(), frameId_.c_str());
                                odometry_->reset(tfPose);
                        }

                }
        }

        if(odomInfoPub_.getNumSubscribers())
        {
                rtabmap_ros::OdomInfo infoMsg;
                odomInfoToROS(info, infoMsg);
                infoMsg.header.stamp = stamp; // use corresponding time stamp to image
                infoMsg.header.frame_id = odomFrameId_;
                odomInfoPub_.publish(infoMsg);
        }

        if(!data.imageRaw().empty())
        {
                if(visParams_)
                {
                        if(icpParams_)
                        {
                                NODELET_INFO( "Odom: quality=%d, ratio=%f, std dev=%fm|%frad, update time=%fs", info.reg.inliers, info.reg.icpInliersRatio, pose.isNull()?0.0f:std::sqrt(info.reg.covariance.at<double>(0,0)), pose.isNull()?0.0f:std::sqrt(info.reg.covariance.at<double>(5,5)), (ros::WallTime::now()-time).toSec());
                        }
                        else
                        {
                                NODELET_INFO( "Odom: quality=%d, std dev=%fm|%frad, update time=%fs", info.reg.inliers, pose.isNull()?0.0f:std::sqrt(info.reg.covariance.at<double>(0,0)), pose.isNull()?0.0f:std::sqrt(info.reg.covariance.at<double>(5,5)), (ros::WallTime::now()-time).toSec());
                        }
                }
                else
                {
                        NODELET_INFO( "Odom: ratio=%f, std dev=%fm|%frad, update time=%fs", info.reg.icpInliersRatio, pose.isNull()?0.0f:std::sqrt(info.reg.covariance.at<double>(0,0)), pose.isNull()?0.0f:std::sqrt(info.reg.covariance.at<double>(5,5)), (ros::WallTime::now()-time).toSec());
                }
        }
}

bool OdometryROS::reset(std_srvs::Empty::Request&, std_srvs::Empty::Response&)
{
        NODELET_INFO( "visual_odometry: reset odom!");
        odometry_->reset();
        guess_.setNull();
        guessStamp_ = 0.0;
        resetCurrentCount_ = resetCountdown_;
        this->flushCallbacks();
        return true;
}

bool OdometryROS::resetToPose(rtabmap_ros::ResetPose::Request& req, rtabmap_ros::ResetPose::Response&)
{
        Transform pose(req.x, req.y, req.z, req.roll, req.pitch, req.yaw);
        NODELET_INFO( "visual_odometry: reset odom to pose %s!", pose.prettyPrint().c_str());
        odometry_->reset(pose);
        guess_.setNull();
        guessStamp_ = 0.0;
        resetCurrentCount_ = resetCountdown_;
        this->flushCallbacks();
        return true;
}

bool OdometryROS::pause(std_srvs::Empty::Request&, std_srvs::Empty::Response&)
{
        if(paused_)
        {
                NODELET_WARN( "visual_odometry: Already paused!");
        }
        else
        {
                paused_ = true;
                NODELET_INFO( "visual_odometry: paused!");
        }
        return true;
}

bool OdometryROS::resume(std_srvs::Empty::Request&, std_srvs::Empty::Response&)
{
        if(!paused_)
        {
                NODELET_WARN( "visual_odometry: Already running!");
        }
        else
        {
                paused_ = false;
                NODELET_INFO( "visual_odometry: resumed!");
        }
        return true;
}

bool OdometryROS::setLogDebug(std_srvs::Empty::Request&, std_srvs::Empty::Response&)
{
        NODELET_INFO( "visual_odometry: Set log level to Debug");
        ULogger::setLevel(ULogger::kDebug);
        return true;
}
bool OdometryROS::setLogInfo(std_srvs::Empty::Request&, std_srvs::Empty::Response&)
{
        NODELET_INFO( "visual_odometry: Set log level to Info");
        ULogger::setLevel(ULogger::kInfo);
        return true;
}
bool OdometryROS::setLogWarn(std_srvs::Empty::Request&, std_srvs::Empty::Response&)
{
        NODELET_INFO( "visual_odometry: Set log level to Warning");
        ULogger::setLevel(ULogger::kWarning);
        return true;
}
bool OdometryROS::setLogError(std_srvs::Empty::Request&, std_srvs::Empty::Response&)
{
        NODELET_INFO( "visual_odometry: Set log level to Error");
        ULogger::setLevel(ULogger::kError);
        return true;
}


}