Recorder.h

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/*
 * OpenVINS: An Open Platform for Visual-Inertial Research
 * Copyright (C) 2018-2023 Patrick Geneva
 * Copyright (C) 2018-2023 Guoquan Huang
 * Copyright (C) 2018-2023 OpenVINS Contributors
 * Copyright (C) 2018-2019 Kevin Eckenhoff
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
 
#ifndef OV_EVAL_RECORDER_H
#define OV_EVAL_RECORDER_H
 
#include <fstream>
#include <iostream>
#include <string>
 
#include <Eigen/Eigen>
#include <boost/filesystem.hpp>
 
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/PoseWithCovarianceStamped.h>
#include <geometry_msgs/TransformStamped.h>
#include <nav_msgs/Odometry.h>
#include <ros/ros.h>
 
namespace ov_eval {
 
class Recorder {
 
public:
  Recorder(std::string filename) {
    // Create folder path to this location if not exists
    boost::filesystem::path dir(filename.c_str());
    if (boost::filesystem::create_directories(dir.parent_path())) {
      ROS_INFO("Created folder path to output file.");
      ROS_INFO("Path: %s", dir.parent_path().c_str());
    }
    // If it exists, then delete it
    if (boost::filesystem::exists(filename)) {
      ROS_WARN("Output file exists, deleting old file....");
      boost::filesystem::remove(filename);
    }
    // Open this file we want to write to
    outfile.open(filename.c_str());
    if (outfile.fail()) {
      ROS_ERROR("Unable to open output file!!");
      ROS_ERROR("Path: %s", filename.c_str());
      std::exit(EXIT_FAILURE);
    }
    outfile << "# timestamp(s) tx ty tz qx qy qz qw Pr11 Pr12 Pr13 Pr22 Pr23 Pr33 Pt11 Pt12 Pt13 Pt22 Pt23 Pt33" << std::endl;
    // Set initial state values
    timestamp = -1;
    q_ItoG << 0, 0, 0, 1;
    p_IinG = Eigen::Vector3d::Zero();
    cov_rot = Eigen::Matrix<double, 3, 3>::Zero();
    cov_pos = Eigen::Matrix<double, 3, 3>::Zero();
    has_covariance = false;
  }
 
  void callback_odometry(const nav_msgs::OdometryPtr &msg) {
    timestamp = msg->header.stamp.toSec();
    q_ItoG << msg->pose.pose.orientation.x, msg->pose.pose.orientation.y, msg->pose.pose.orientation.z, msg->pose.pose.orientation.w;
    p_IinG << msg->pose.pose.position.x, msg->pose.pose.position.y, msg->pose.pose.position.z;
    cov_pos << msg->pose.covariance.at(0), msg->pose.covariance.at(1), msg->pose.covariance.at(2), msg->pose.covariance.at(6),
        msg->pose.covariance.at(7), msg->pose.covariance.at(8), msg->pose.covariance.at(12), msg->pose.covariance.at(13),
        msg->pose.covariance.at(14);
    cov_rot << msg->pose.covariance.at(21), msg->pose.covariance.at(22), msg->pose.covariance.at(23), msg->pose.covariance.at(27),
        msg->pose.covariance.at(28), msg->pose.covariance.at(29), msg->pose.covariance.at(33), msg->pose.covariance.at(34),
        msg->pose.covariance.at(35);
    has_covariance = true;
    write();
  }
 
  void callback_pose(const geometry_msgs::PoseStampedPtr &msg) {
    timestamp = msg->header.stamp.toSec();
    q_ItoG << msg->pose.orientation.x, msg->pose.orientation.y, msg->pose.orientation.z, msg->pose.orientation.w;
    p_IinG << msg->pose.position.x, msg->pose.position.y, msg->pose.position.z;
    write();
  }
 
  void callback_posecovariance(const geometry_msgs::PoseWithCovarianceStampedPtr &msg) {
    timestamp = msg->header.stamp.toSec();
    q_ItoG << msg->pose.pose.orientation.x, msg->pose.pose.orientation.y, msg->pose.pose.orientation.z, msg->pose.pose.orientation.w;
    p_IinG << msg->pose.pose.position.x, msg->pose.pose.position.y, msg->pose.pose.position.z;
    cov_pos << msg->pose.covariance.at(0), msg->pose.covariance.at(1), msg->pose.covariance.at(2), msg->pose.covariance.at(6),
        msg->pose.covariance.at(7), msg->pose.covariance.at(8), msg->pose.covariance.at(12), msg->pose.covariance.at(13),
        msg->pose.covariance.at(14);
    cov_rot << msg->pose.covariance.at(21), msg->pose.covariance.at(22), msg->pose.covariance.at(23), msg->pose.covariance.at(27),
        msg->pose.covariance.at(28), msg->pose.covariance.at(29), msg->pose.covariance.at(33), msg->pose.covariance.at(34),
        msg->pose.covariance.at(35);
    has_covariance = true;
    write();
  }
 
  void callback_transform(const geometry_msgs::TransformStampedPtr &msg) {
    timestamp = msg->header.stamp.toSec();
    q_ItoG << msg->transform.rotation.x, msg->transform.rotation.y, msg->transform.rotation.z, msg->transform.rotation.w;
    p_IinG << msg->transform.translation.x, msg->transform.translation.y, msg->transform.translation.z;
    write();
  }
 
protected:
  void write() {
 
    // timestamp
    outfile.precision(5);
    outfile.setf(std::ios::fixed, std::ios::floatfield);
    outfile << timestamp << " ";
 
    // pose
    outfile.precision(6);
    outfile << p_IinG.x() << " " << p_IinG.y() << " " << p_IinG.z() << " " << q_ItoG(0) << " " << q_ItoG(1) << " " << q_ItoG(2) << " "
            << q_ItoG(3);
 
    // output the covariance only if we have it
    if (has_covariance) {
      outfile.precision(10);
      outfile << " " << cov_rot(0, 0) << " " << cov_rot(0, 1) << " " << cov_rot(0, 2) << " " << cov_rot(1, 1) << " " << cov_rot(1, 2) << " "
              << cov_rot(2, 2) << " " << cov_pos(0, 0) << " " << cov_pos(0, 1) << " " << cov_pos(0, 2) << " " << cov_pos(1, 1) << " "
              << cov_pos(1, 2) << " " << cov_pos(2, 2) << std::endl;
    } else {
      outfile << std::endl;
    }
  }
 
  // Output stream file
  std::ofstream outfile;
 
  // Temp storage objects for our pose and its certainty
  bool has_covariance = false;
  double timestamp;
  Eigen::Vector4d q_ItoG;
  Eigen::Vector3d p_IinG;
  Eigen::Matrix<double, 3, 3> cov_rot;
  Eigen::Matrix<double, 3, 3> cov_pos;
};
 
} // namespace ov_eval
 
#endif // OV_EVAL_RECORDER_H