From 655ae4ef6644e3cb466f160706f3c767be1a72cf Mon Sep 17 00:00:00 2001
From: Kee Jin <yoplocheo@gmail.com>
Date: Sun, 9 Mar 2025 17:48:57 +0800
Subject: [PATCH 1/5] pose_graph_ros: removed old unused pose_graph_node impl
 file

---
 pose_graph_ros/src/old/pose_graph_node.cpp | 768 ---------------------
 1 file changed, 768 deletions(-)
 delete mode 100644 pose_graph_ros/src/old/pose_graph_node.cpp

diff --git a/pose_graph_ros/src/old/pose_graph_node.cpp b/pose_graph_ros/src/old/pose_graph_node.cpp
deleted file mode 100644
index c794a5e77..000000000
--- a/pose_graph_ros/src/old/pose_graph_node.cpp
+++ /dev/null
@@ -1,768 +0,0 @@
-#include <vector>
-#include <ros/ros.h>
-#include <nav_msgs/Odometry.h>
-#include <nav_msgs/Path.h>
-#include <geometry_msgs/PointStamped.h>
-#include <sensor_msgs/PointCloud.h>
-#include <sensor_msgs/Image.h>
-#include <sensor_msgs/image_encodings.h>
-#include <visualization_msgs/Marker.h>
-#include <std_msgs/Bool.h>
-#include <cv_bridge/cv_bridge.h>
-#include <iostream>
-#include <ros/package.h>
-#include <mutex>
-#include <queue>
-#include <thread>
-#include <eigen3/Eigen/Dense>
-#include <opencv2/opencv.hpp>
-#include <opencv2/core/eigen.hpp>
-
-#include "pose_graph/details/keyframe.h"
-#include "pose_graph/parameters.h"
-#include "pose_graph/pose_graph.h"
-#include "pose_graph/utility/tic_toc.h"
-#include "pose_graph_ros/utility/CameraPoseVisualization.h"
-
-#define SKIP_FIRST_CNT 10
-#define SAVE_LOOP_PATH true
-using namespace std;
-
-queue<sensor_msgs::ImageConstPtr> image_buf;
-queue<sensor_msgs::PointCloudConstPtr> point_buf;
-queue<nav_msgs::Odometry::ConstPtr> pose_buf;
-queue<Eigen::Vector3d> odometry_buf;
-std::mutex m_buf;
-std::mutex m_process;
-int frame_index = 0;
-int sequence = 1;
-PoseGraph posegraph;
-int skip_first_cnt = 0;
-int SKIP_CNT;
-int skip_cnt = 0;
-bool load_flag = 0;
-bool start_flag = 0;
-double SKIP_DIS = 0;
-nav_msgs::Path path[10];
-nav_msgs::Path base_path;
-CameraPoseVisualization* posegraph_visualization;
-
-int VISUALIZATION_SHIFT_X;
-int VISUALIZATION_SHIFT_Y;
-int ROW;
-int COL;
-int DEBUG_IMAGE;
-int VISUALIZE_IMU_FORWARD;
-int LOOP_CLOSURE;
-int FAST_RELOCALIZATION;
-
-camodocal::CameraPtr m_camera;
-Eigen::Vector3d tic;
-Eigen::Matrix3d qic;
-ros::Publisher pub_match_points;
-ros::Publisher pub_camera_pose_visual;
-ros::Publisher pub_key_odometrys;
-ros::Publisher pub_vio_path;
-ros::Publisher pub_pg_path;
-ros::Publisher pub_base_path;
-ros::Publisher pub_pose_graph;
-ros::Publisher pub_path[10];
-ros::Publisher pub_match_img;
-nav_msgs::Path no_loop_path;
-
-std::string BRIEF_PATTERN_FILE;
-std::string POSE_GRAPH_SAVE_PATH;
-std::string VINS_RESULT_PATH;
-CameraPoseVisualization cameraposevisual(1, 0, 0, 1);
-Eigen::Vector3d last_t(-100, -100, -100);
-double last_image_time = -1;
-
-void publish() {
-  int sequence_cnt = posegraph.getCurrentSequenceCount();
-  for (int i = 1; i <= sequence_cnt; i++) {
-    // if (sequence_loop[i] == true || i == base_sequence)
-    if (true) {
-      pub_pg_path.publish(path[i]);
-      pub_path[i].publish(path[i]);
-      posegraph_visualization->publish_by(pub_pose_graph,
-                                          path[sequence_cnt].header);
-    }
-  }
-  base_path.header.frame_id = "world";
-  pub_base_path.publish(base_path);
-  // posegraph_visualization->publish_by(pub_pose_graph,
-  // path[sequence_cnt].header);
-}
-
-void new_sequence() {
-  printf("new sequence\n");
-  sequence++;
-  printf("sequence cnt %d \n", sequence);
-  if (sequence > 5) {
-    ROS_WARN(
-        "only support 5 sequences since it's boring to copy code for more "
-        "sequences.");
-    ROS_BREAK();
-  }
-  posegraph_visualization->reset();
-  publish();
-  m_buf.lock();
-  while (!image_buf.empty()) image_buf.pop();
-  while (!point_buf.empty()) point_buf.pop();
-  while (!pose_buf.empty()) pose_buf.pop();
-  while (!odometry_buf.empty()) odometry_buf.pop();
-  m_buf.unlock();
-}
-
-void on_keyframe_loaded_callback(KeyFrame* keyframe,
-                                 int pose_graph_load_count) {
-  Vector3d P;
-  Matrix3d R;
-  keyframe->getPose(P, R);
-  Quaterniond Q{R};
-  geometry_msgs::PoseStamped pose_stamped;
-  pose_stamped.header.stamp = ros::Time(keyframe->time_stamp);
-  pose_stamped.header.frame_id = "world";
-  pose_stamped.pose.position.x = P.x() + VISUALIZATION_SHIFT_X;
-  pose_stamped.pose.position.y = P.y() + VISUALIZATION_SHIFT_Y;
-  pose_stamped.pose.position.z = P.z();
-  pose_stamped.pose.orientation.x = Q.x();
-  pose_stamped.pose.orientation.y = Q.y();
-  pose_stamped.pose.orientation.z = Q.z();
-  pose_stamped.pose.orientation.w = Q.w();
-  base_path.poses.push_back(pose_stamped);
-  base_path.header = pose_stamped.header;
-
-  if (pose_graph_load_count % 20 == 0) {
-    publish();
-  }
-}
-
-void on_optimization_step_completed_callback(
-    std::list<KeyFrame*> keyframelist) {
-  list<KeyFrame*>::iterator it;
-  int sequence_cnt = posegraph.getCurrentSequenceCount();
-  for (int i = 1; i <= sequence_cnt; i++) {
-    path[i].poses.clear();
-  }
-  base_path.poses.clear();
-  posegraph_visualization->reset();
-
-  if (SAVE_LOOP_PATH) {
-    ofstream loop_path_file_tmp(VINS_RESULT_PATH, ios::out);
-    loop_path_file_tmp.close();
-  }
-
-  for (it = keyframelist.begin(); it != keyframelist.end(); it++) {
-    Vector3d P;
-    Matrix3d R;
-    (*it)->getPose(P, R);
-    Quaterniond Q;
-    Q = R;
-    //        printf("path p: %f, %f, %f\n",  P.x(),  P.z(),  P.y() );
-
-    geometry_msgs::PoseStamped pose_stamped;
-    pose_stamped.header.stamp = ros::Time((*it)->time_stamp);
-    pose_stamped.header.frame_id = "world";
-    pose_stamped.pose.position.x = P.x() + VISUALIZATION_SHIFT_X;
-    pose_stamped.pose.position.y = P.y() + VISUALIZATION_SHIFT_Y;
-    pose_stamped.pose.position.z = P.z();
-    pose_stamped.pose.orientation.x = Q.x();
-    pose_stamped.pose.orientation.y = Q.y();
-    pose_stamped.pose.orientation.z = Q.z();
-    pose_stamped.pose.orientation.w = Q.w();
-    if ((*it)->sequence == 0) {
-      base_path.poses.push_back(pose_stamped);
-      base_path.header = pose_stamped.header;
-    } else {
-      path[(*it)->sequence].poses.push_back(pose_stamped);
-      path[(*it)->sequence].header = pose_stamped.header;
-    }
-
-    if (SAVE_LOOP_PATH) {
-      ofstream loop_path_file(VINS_RESULT_PATH, ios::app);
-      loop_path_file.setf(ios::fixed, ios::floatfield);
-      loop_path_file.precision(0);
-      loop_path_file << (*it)->time_stamp * 1e9 << ",";
-      loop_path_file.precision(5);
-      loop_path_file << P.x() << "," << P.y() << "," << P.z() << "," << Q.w()
-                     << "," << Q.x() << "," << Q.y() << "," << Q.z() << ","
-                     << endl;
-      loop_path_file.close();
-    }
-
-    if (SHOW_S_EDGE) {
-      list<KeyFrame*>::reverse_iterator rit = keyframelist.rbegin();
-      list<KeyFrame*>::reverse_iterator lrit;
-      for (; rit != keyframelist.rend(); rit++) {
-        if ((*rit)->index == (*it)->index) {
-          lrit = rit;
-          lrit++;
-          for (int i = 0; i < 4; i++) {
-            if (lrit == keyframelist.rend()) break;
-            if ((*lrit)->sequence == (*it)->sequence) {
-              Vector3d conncected_P;
-              Matrix3d connected_R;
-              (*lrit)->getPose(conncected_P, connected_R);
-              posegraph_visualization->add_edge(P, conncected_P);
-            }
-            lrit++;
-          }
-          break;
-        }
-      }
-    }
-    if (SHOW_L_EDGE) {
-      if ((*it)->has_loop && (*it)->sequence == sequence_cnt) {
-        KeyFrame* connected_KF = posegraph.getKeyFrame((*it)->loop_index);
-        Vector3d connected_P;
-        Matrix3d connected_R;
-        connected_KF->getPose(connected_P, connected_R);
-        //(*it)->getVioPose(P, R);
-        (*it)->getPose(P, R);
-        if ((*it)->sequence > 0) {
-          posegraph_visualization->add_loopedge(
-              P, connected_P +
-                     Vector3d(VISUALIZATION_SHIFT_X, VISUALIZATION_SHIFT_Y, 0));
-        }
-      }
-    }
-  }
-
-  publish();
-}
-
-void on_new_edge_callback(Vector3d p1, Vector3d p2) {
-  posegraph_visualization->add_edge(p1, p2);
-}
-
-void on_new_loopedge_callback(Vector3d p1, Vector3d p2) {
-  posegraph_visualization->add_loopedge(p1, p2);
-}
-
-void on_keyframe_connection_found_callback(
-    KeyFrame* cur_kf, KeyFrame* old_kf,
-    vector<cv::Point2f>& matched_2d_old_norm, vector<double>& matched_id) {
-  {
-    sensor_msgs::ImagePtr msg =
-        cv_bridge::CvImage(std_msgs::Header(), "bgr8", cur_kf->getThumbImage())
-            .toImageMsg();
-    msg->header.stamp = ros::Time(cur_kf->time_stamp);
-    pub_match_img.publish(msg);
-  }
-  if (FAST_RELOCALIZATION) {
-    sensor_msgs::PointCloud msg_match_points;
-    msg_match_points.header.stamp = ros::Time(cur_kf->time_stamp);
-    for (int i = 0; i < (int)matched_2d_old_norm.size(); i++) {
-      geometry_msgs::Point32 p;
-      p.x = matched_2d_old_norm[i].x;
-      p.y = matched_2d_old_norm[i].y;
-      p.z = matched_id[i];
-      msg_match_points.points.push_back(p);
-    }
-    Eigen::Vector3d T = old_kf->T_w_i;
-    Eigen::Matrix3d R = old_kf->R_w_i;
-    Quaterniond Q(R);
-    sensor_msgs::ChannelFloat32 t_q_index;
-    t_q_index.values.push_back(T.x());
-    t_q_index.values.push_back(T.y());
-    t_q_index.values.push_back(T.z());
-    t_q_index.values.push_back(Q.w());
-    t_q_index.values.push_back(Q.x());
-    t_q_index.values.push_back(Q.y());
-    t_q_index.values.push_back(Q.z());
-    t_q_index.values.push_back(cur_kf->index);
-    msg_match_points.channels.push_back(t_q_index);
-    pub_match_points.publish(msg_match_points);
-  }
-}
-
-void image_callback(const sensor_msgs::ImageConstPtr& image_msg) {
-  // ROS_INFO("image_callback!");
-  if (!LOOP_CLOSURE) return;
-  m_buf.lock();
-  image_buf.push(image_msg);
-  m_buf.unlock();
-  // printf(" image time %f \n", image_msg->header.stamp.toSec());
-
-  // detect unstable camera stream
-  if (last_image_time == -1)
-    last_image_time = image_msg->header.stamp.toSec();
-  else if (image_msg->header.stamp.toSec() - last_image_time > 1.0 ||
-           image_msg->header.stamp.toSec() < last_image_time) {
-    ROS_WARN("image discontinue! detect a new sequence!");
-    new_sequence();
-  }
-  last_image_time = image_msg->header.stamp.toSec();
-}
-
-void point_callback(const sensor_msgs::PointCloudConstPtr& point_msg) {
-  // ROS_INFO("point_callback!");
-  if (!LOOP_CLOSURE) return;
-  m_buf.lock();
-  point_buf.push(point_msg);
-  m_buf.unlock();
-  /*
-  for (unsigned int i = 0; i < point_msg->points.size(); i++)
-  {
-      printf("%d, 3D point: %f, %f, %f 2D point %f, %f \n",i ,
-  point_msg->points[i].x, point_msg->points[i].y, point_msg->points[i].z,
-                                                   point_msg->channels[i].values[0],
-                                                   point_msg->channels[i].values[1]);
-  }
-  */
-}
-
-void pose_callback(const nav_msgs::Odometry::ConstPtr& pose_msg) {
-  // ROS_INFO("pose_callback!");
-  if (!LOOP_CLOSURE) return;
-  m_buf.lock();
-  pose_buf.push(pose_msg);
-  m_buf.unlock();
-  /*
-  printf("pose t: %f, %f, %f   q: %f, %f, %f %f \n",
-  pose_msg->pose.pose.position.x, pose_msg->pose.pose.position.y,
-                                                     pose_msg->pose.pose.position.z,
-                                                     pose_msg->pose.pose.orientation.w,
-                                                     pose_msg->pose.pose.orientation.x,
-                                                     pose_msg->pose.pose.orientation.y,
-                                                     pose_msg->pose.pose.orientation.z);
-  */
-}
-
-void imu_forward_callback(const nav_msgs::Odometry::ConstPtr& forward_msg) {
-  if (VISUALIZE_IMU_FORWARD) {
-    Vector3d vio_t(forward_msg->pose.pose.position.x,
-                   forward_msg->pose.pose.position.y,
-                   forward_msg->pose.pose.position.z);
-    Quaterniond vio_q;
-    vio_q.w() = forward_msg->pose.pose.orientation.w;
-    vio_q.x() = forward_msg->pose.pose.orientation.x;
-    vio_q.y() = forward_msg->pose.pose.orientation.y;
-    vio_q.z() = forward_msg->pose.pose.orientation.z;
-
-    vio_t = posegraph.w_r_vio * vio_t + posegraph.w_t_vio;
-    vio_q = posegraph.w_r_vio * vio_q;
-
-    vio_t = posegraph.r_drift * vio_t + posegraph.t_drift;
-    vio_q = posegraph.r_drift * vio_q;
-
-    Vector3d vio_t_cam;
-    Quaterniond vio_q_cam;
-    vio_t_cam = vio_t + vio_q * tic;
-    vio_q_cam = vio_q * qic;
-
-    cameraposevisual.reset();
-    cameraposevisual.add_pose(vio_t_cam, vio_q_cam);
-    cameraposevisual.publish_by(pub_camera_pose_visual, forward_msg->header);
-  }
-}
-void relo_relative_pose_callback(const nav_msgs::Odometry::ConstPtr& pose_msg) {
-  Vector3d relative_t =
-      Vector3d(pose_msg->pose.pose.position.x, pose_msg->pose.pose.position.y,
-               pose_msg->pose.pose.position.z);
-  Quaterniond relative_q;
-  relative_q.w() = pose_msg->pose.pose.orientation.w;
-  relative_q.x() = pose_msg->pose.pose.orientation.x;
-  relative_q.y() = pose_msg->pose.pose.orientation.y;
-  relative_q.z() = pose_msg->pose.pose.orientation.z;
-  double relative_yaw = pose_msg->twist.twist.linear.x;
-  int index = pose_msg->twist.twist.linear.y;
-  // printf("receive index %d \n", index );
-  Eigen::Matrix<double, 8, 1> loop_info;
-  loop_info << relative_t.x(), relative_t.y(), relative_t.z(), relative_q.w(),
-      relative_q.x(), relative_q.y(), relative_q.z(), relative_yaw;
-  posegraph.updateKeyFrameLoop(index, loop_info);
-}
-
-void vio_callback(const nav_msgs::Odometry::ConstPtr& pose_msg) {
-  // ROS_INFO("vio_callback!");
-  Vector3d vio_t(pose_msg->pose.pose.position.x, pose_msg->pose.pose.position.y,
-                 pose_msg->pose.pose.position.z);
-  Quaterniond vio_q;
-  vio_q.w() = pose_msg->pose.pose.orientation.w;
-  vio_q.x() = pose_msg->pose.pose.orientation.x;
-  vio_q.y() = pose_msg->pose.pose.orientation.y;
-  vio_q.z() = pose_msg->pose.pose.orientation.z;
-
-  vio_t = posegraph.w_r_vio * vio_t + posegraph.w_t_vio;
-  vio_q = posegraph.w_r_vio * vio_q;
-
-  vio_t = posegraph.r_drift * vio_t + posegraph.t_drift;
-  vio_q = posegraph.r_drift * vio_q;
-
-  Vector3d vio_t_cam;
-  Quaterniond vio_q_cam;
-  vio_t_cam = vio_t + vio_q * tic;
-  vio_q_cam = vio_q * qic;
-
-  if (!VISUALIZE_IMU_FORWARD) {
-    cameraposevisual.reset();
-    cameraposevisual.add_pose(vio_t_cam, vio_q_cam);
-    cameraposevisual.publish_by(pub_camera_pose_visual, pose_msg->header);
-  }
-
-  odometry_buf.push(vio_t_cam);
-  if (odometry_buf.size() > 10) {
-    odometry_buf.pop();
-  }
-
-  visualization_msgs::Marker key_odometrys;
-  key_odometrys.header = pose_msg->header;
-  key_odometrys.header.frame_id = "world";
-  key_odometrys.ns = "key_odometrys";
-  key_odometrys.type = visualization_msgs::Marker::SPHERE_LIST;
-  key_odometrys.action = visualization_msgs::Marker::ADD;
-  key_odometrys.pose.orientation.w = 1.0;
-  key_odometrys.lifetime = ros::Duration();
-
-  // static int key_odometrys_id = 0;
-  key_odometrys.id = 0;  // key_odometrys_id++;
-  key_odometrys.scale.x = 0.1;
-  key_odometrys.scale.y = 0.1;
-  key_odometrys.scale.z = 0.1;
-  key_odometrys.color.r = 1.0;
-  key_odometrys.color.a = 1.0;
-
-  for (unsigned int i = 0; i < odometry_buf.size(); i++) {
-    geometry_msgs::Point pose_marker;
-    Vector3d vio_t;
-    vio_t = odometry_buf.front();
-    odometry_buf.pop();
-    pose_marker.x = vio_t.x();
-    pose_marker.y = vio_t.y();
-    pose_marker.z = vio_t.z();
-    key_odometrys.points.push_back(pose_marker);
-    odometry_buf.push(vio_t);
-  }
-  pub_key_odometrys.publish(key_odometrys);
-
-  if (!LOOP_CLOSURE) {
-    geometry_msgs::PoseStamped pose_stamped;
-    pose_stamped.header = pose_msg->header;
-    pose_stamped.header.frame_id = "world";
-    pose_stamped.pose.position.x = vio_t.x();
-    pose_stamped.pose.position.y = vio_t.y();
-    pose_stamped.pose.position.z = vio_t.z();
-    no_loop_path.header = pose_msg->header;
-    no_loop_path.header.frame_id = "world";
-    no_loop_path.poses.push_back(pose_stamped);
-    pub_vio_path.publish(no_loop_path);
-  }
-}
-
-void extrinsic_callback(const nav_msgs::Odometry::ConstPtr& pose_msg) {
-  m_process.lock();
-  tic = Vector3d(pose_msg->pose.pose.position.x, pose_msg->pose.pose.position.y,
-                 pose_msg->pose.pose.position.z);
-  qic = Quaterniond(pose_msg->pose.pose.orientation.w,
-                    pose_msg->pose.pose.orientation.x,
-                    pose_msg->pose.pose.orientation.y,
-                    pose_msg->pose.pose.orientation.z)
-            .toRotationMatrix();
-  m_process.unlock();
-}
-
-void process() {
-  if (!LOOP_CLOSURE) return;
-  while (true) {
-    sensor_msgs::ImageConstPtr image_msg = NULL;
-    sensor_msgs::PointCloudConstPtr point_msg = NULL;
-    nav_msgs::Odometry::ConstPtr pose_msg = NULL;
-
-    // find out the messages with same time stamp
-    m_buf.lock();
-    if (!image_buf.empty() && !point_buf.empty() && !pose_buf.empty()) {
-      if (image_buf.front()->header.stamp.toSec() >
-          pose_buf.front()->header.stamp.toSec()) {
-        pose_buf.pop();
-        printf("throw pose at beginning\n");
-      } else if (image_buf.front()->header.stamp.toSec() >
-                 point_buf.front()->header.stamp.toSec()) {
-        point_buf.pop();
-        printf("throw point at beginning\n");
-      } else if (image_buf.back()->header.stamp.toSec() >=
-                     pose_buf.front()->header.stamp.toSec() &&
-                 point_buf.back()->header.stamp.toSec() >=
-                     pose_buf.front()->header.stamp.toSec()) {
-        pose_msg = pose_buf.front();
-        pose_buf.pop();
-        while (!pose_buf.empty()) pose_buf.pop();
-        while (image_buf.front()->header.stamp.toSec() <
-               pose_msg->header.stamp.toSec())
-          image_buf.pop();
-        image_msg = image_buf.front();
-        image_buf.pop();
-
-        while (point_buf.front()->header.stamp.toSec() <
-               pose_msg->header.stamp.toSec())
-          point_buf.pop();
-        point_msg = point_buf.front();
-        point_buf.pop();
-      }
-    }
-    m_buf.unlock();
-
-    if (pose_msg != NULL) {
-      // printf(" pose time %f \n", pose_msg->header.stamp.toSec());
-      // printf(" point time %f \n", point_msg->header.stamp.toSec());
-      // printf(" image time %f \n", image_msg->header.stamp.toSec());
-      //  skip fisrt few
-      if (skip_first_cnt < SKIP_FIRST_CNT) {
-        skip_first_cnt++;
-        continue;
-      }
-
-      if (skip_cnt < SKIP_CNT) {
-        skip_cnt++;
-        continue;
-      } else {
-        skip_cnt = 0;
-      }
-
-      cv_bridge::CvImageConstPtr ptr;
-      if (image_msg->encoding == "8UC1") {
-        sensor_msgs::Image img;
-        img.header = image_msg->header;
-        img.height = image_msg->height;
-        img.width = image_msg->width;
-        img.is_bigendian = image_msg->is_bigendian;
-        img.step = image_msg->step;
-        img.data = image_msg->data;
-        img.encoding = "mono8";
-        ptr = cv_bridge::toCvCopy(img, sensor_msgs::image_encodings::MONO8);
-      } else
-        ptr =
-            cv_bridge::toCvCopy(image_msg, sensor_msgs::image_encodings::MONO8);
-
-      cv::Mat image = ptr->image;
-      // build keyframe
-      Vector3d T = Vector3d(pose_msg->pose.pose.position.x,
-                            pose_msg->pose.pose.position.y,
-                            pose_msg->pose.pose.position.z);
-      Matrix3d R = Quaterniond(pose_msg->pose.pose.orientation.w,
-                               pose_msg->pose.pose.orientation.x,
-                               pose_msg->pose.pose.orientation.y,
-                               pose_msg->pose.pose.orientation.z)
-                       .toRotationMatrix();
-      if ((T - last_t).norm() > SKIP_DIS) {
-        vector<cv::Point3f> point_3d;
-        vector<cv::Point2f> point_2d_uv;
-        vector<cv::Point2f> point_2d_normal;
-        vector<double> point_id;
-
-        for (unsigned int i = 0; i < point_msg->points.size(); i++) {
-          cv::Point3f p_3d;
-          p_3d.x = point_msg->points[i].x;
-          p_3d.y = point_msg->points[i].y;
-          p_3d.z = point_msg->points[i].z;
-          point_3d.push_back(p_3d);
-
-          cv::Point2f p_2d_uv, p_2d_normal;
-          double p_id;
-          p_2d_normal.x = point_msg->channels[i].values[0];
-          p_2d_normal.y = point_msg->channels[i].values[1];
-          p_2d_uv.x = point_msg->channels[i].values[2];
-          p_2d_uv.y = point_msg->channels[i].values[3];
-          p_id = point_msg->channels[i].values[4];
-          point_2d_normal.push_back(p_2d_normal);
-          point_2d_uv.push_back(p_2d_uv);
-          point_id.push_back(p_id);
-
-          // printf("u %f, v %f \n", p_2d_uv.x, p_2d_uv.y);
-        }
-
-        KeyFrame* keyframe = new KeyFrame(
-            pose_msg->header.stamp.toSec(), frame_index, T, R, image, point_3d,
-            point_2d_uv, point_2d_normal, point_id, sequence);
-        m_process.lock();
-        start_flag = 1;
-        posegraph.addKeyFrame(keyframe, 1);
-        {
-          int sequence_cnt = posegraph.getCurrentSequenceCount();
-          Vector3d P;
-          Matrix3d R;
-          keyframe->getPose(P, R);
-          Quaterniond Q{R};
-          geometry_msgs::PoseStamped pose_stamped;
-          pose_stamped.header.stamp = ros::Time(keyframe->time_stamp);
-          pose_stamped.header.frame_id = "world";
-          pose_stamped.pose.position.x = P.x() + VISUALIZATION_SHIFT_X;
-          pose_stamped.pose.position.y = P.y() + VISUALIZATION_SHIFT_Y;
-          pose_stamped.pose.position.z = P.z();
-          pose_stamped.pose.orientation.x = Q.x();
-          pose_stamped.pose.orientation.y = Q.y();
-          pose_stamped.pose.orientation.z = Q.z();
-          pose_stamped.pose.orientation.w = Q.w();
-          path[sequence_cnt].poses.push_back(pose_stamped);
-          path[sequence_cnt].header = pose_stamped.header;
-
-          if (SAVE_LOOP_PATH) {
-            ofstream loop_path_file(VINS_RESULT_PATH, ios::app);
-            loop_path_file.setf(ios::fixed, ios::floatfield);
-            loop_path_file.precision(0);
-            loop_path_file << keyframe->time_stamp * 1e9 << ",";
-            loop_path_file.precision(5);
-            loop_path_file << P.x() << "," << P.y() << "," << P.z() << ","
-                           << Q.w() << "," << Q.x() << "," << Q.y() << ","
-                           << Q.z() << "," << endl;
-            loop_path_file.close();
-          }
-        }
-        publish();
-        m_process.unlock();
-        frame_index++;
-        last_t = T;
-      }
-    }
-
-    std::chrono::milliseconds dura(5);
-    std::this_thread::sleep_for(dura);
-  }
-}
-
-void command() {
-  if (!LOOP_CLOSURE) return;
-  while (1) {
-    char c = getchar();
-    if (c == 's') {
-      m_process.lock();
-      posegraph.savePoseGraph();
-      m_process.unlock();
-      printf(
-          "save pose graph finish\nyou can set 'load_previous_pose_graph' to 1 "
-          "in the config file to reuse it next time\n");
-      // printf("program shutting down...\n");
-      // ros::shutdown();
-    }
-    if (c == 'n') new_sequence();
-
-    std::chrono::milliseconds dura(5);
-    std::this_thread::sleep_for(dura);
-  }
-}
-
-int main(int argc, char** argv) {
-  ros::init(argc, argv, "pose_graph_ros");
-  ros::NodeHandle n("~");
-  // posegraph.registerPub(n);
-
-  // OnPoseGraphLoaded
-  posegraph.setOnKeyFrameLoadedCallback(on_keyframe_loaded_callback);
-
-  // OnPoseGraphOptimization
-  posegraph.setOnOptimizationStepCompletedCallback(
-      on_optimization_step_completed_callback);
-
-  // OnKeyFrameAdded
-  posegraph.setOnNewEdgeCallback(on_new_edge_callback);
-  posegraph.setOnNewLoopEdgeCallback(on_new_loopedge_callback);
-  posegraph.setOnKeyFrameConnectionFoundCallback(
-      on_keyframe_connection_found_callback);
-
-  posegraph_visualization = new CameraPoseVisualization(1.0, 0.0, 1.0, 1.0);
-  posegraph_visualization->setScale(0.1);
-  posegraph_visualization->setLineWidth(0.01);
-
-  // read param
-  n.getParam("visualization_shift_x", VISUALIZATION_SHIFT_X);
-  n.getParam("visualization_shift_y", VISUALIZATION_SHIFT_Y);
-  n.getParam("skip_cnt", SKIP_CNT);
-  n.getParam("skip_dis", SKIP_DIS);
-  std::string config_file;
-  n.getParam("config_file", config_file);
-  cv::FileStorage fsSettings(config_file, cv::FileStorage::READ);
-  if (!fsSettings.isOpened()) {
-    std::cerr << "ERROR: Wrong path to settings" << std::endl;
-  }
-
-  double camera_visual_size = fsSettings["visualize_camera_size"];
-  cameraposevisual.setScale(camera_visual_size);
-  cameraposevisual.setLineWidth(camera_visual_size / 10.0);
-
-  LOOP_CLOSURE = fsSettings["loop_closure"];
-  std::string IMAGE_TOPIC;
-  int LOAD_PREVIOUS_POSE_GRAPH;
-  if (LOOP_CLOSURE) {
-    ROW = fsSettings["image_height"];
-    COL = fsSettings["image_width"];
-    std::string pkg_path = ros::package::getPath("pose_graph_ros");
-    string vocabulary_file = pkg_path + "/../support_files/brief_k10L6.bin";
-    cout << "vocabulary_file" << vocabulary_file << endl;
-    posegraph.loadVocabulary(vocabulary_file);
-
-    BRIEF_PATTERN_FILE = pkg_path + "/../support_files/brief_pattern.yml";
-    cout << "BRIEF_PATTERN_FILE" << BRIEF_PATTERN_FILE << endl;
-    m_camera = camodocal::CameraFactory::instance()->generateCameraFromYamlFile(
-        config_file.c_str());
-
-    fsSettings["image_topic"] >> IMAGE_TOPIC;
-    fsSettings["pose_graph_save_path"] >> POSE_GRAPH_SAVE_PATH;
-    fsSettings["output_path"] >> VINS_RESULT_PATH;
-    fsSettings["save_image"] >> DEBUG_IMAGE;
-
-    // create folder if not exists
-    FileSystemHelper::createDirectoryIfNotExists(POSE_GRAPH_SAVE_PATH.c_str());
-    FileSystemHelper::createDirectoryIfNotExists(VINS_RESULT_PATH.c_str());
-
-    VISUALIZE_IMU_FORWARD = fsSettings["visualize_imu_forward"];
-    LOAD_PREVIOUS_POSE_GRAPH = fsSettings["load_previous_pose_graph"];
-    FAST_RELOCALIZATION = fsSettings["fast_relocalization"];
-    VINS_RESULT_PATH = VINS_RESULT_PATH + "/vins_result_loop.csv";
-    std::ofstream fout(VINS_RESULT_PATH, std::ios::out);
-    fout.close();
-    fsSettings.release();
-
-    if (LOAD_PREVIOUS_POSE_GRAPH) {
-      printf("load pose graph\n");
-      m_process.lock();
-      posegraph.loadPoseGraph();
-      m_process.unlock();
-      printf("load pose graph finish\n");
-      load_flag = 1;
-    } else {
-      printf("no previous pose graph\n");
-      load_flag = 1;
-    }
-  }
-
-  fsSettings.release();
-
-  ros::Subscriber sub_imu_forward =
-      n.subscribe("/vins_estimator/imu_propagate", 2000, imu_forward_callback);
-  ros::Subscriber sub_vio =
-      n.subscribe("/vins_estimator/odometry", 2000, vio_callback);
-  ros::Subscriber sub_image = n.subscribe(IMAGE_TOPIC, 2000, image_callback);
-  ros::Subscriber sub_pose =
-      n.subscribe("/vins_estimator/keyframe_pose", 2000, pose_callback);
-  ros::Subscriber sub_extrinsic =
-      n.subscribe("/vins_estimator/extrinsic", 2000, extrinsic_callback);
-  ros::Subscriber sub_point =
-      n.subscribe("/vins_estimator/keyframe_point", 2000, point_callback);
-  ros::Subscriber sub_relo_relative_pose = n.subscribe(
-      "/vins_estimator/relo_relative_pose", 2000, relo_relative_pose_callback);
-
-  pub_match_img = n.advertise<sensor_msgs::Image>("match_image", 1000);
-  pub_camera_pose_visual =
-      n.advertise<visualization_msgs::MarkerArray>("camera_pose_visual", 1000);
-  pub_key_odometrys =
-      n.advertise<visualization_msgs::Marker>("key_odometrys", 1000);
-  pub_vio_path = n.advertise<nav_msgs::Path>("no_loop_path", 1000);
-  pub_match_points = n.advertise<sensor_msgs::PointCloud>("match_points", 100);
-  pub_pg_path = n.advertise<nav_msgs::Path>("pose_graph_path", 1000);
-  pub_base_path = n.advertise<nav_msgs::Path>("base_path", 1000);
-  pub_pose_graph =
-      n.advertise<visualization_msgs::MarkerArray>("pose_graph", 1000);
-  for (int i = 1; i < 10; i++)
-    pub_path[i] = n.advertise<nav_msgs::Path>("path_" + to_string(i), 1000);
-
-  std::thread measurement_process;
-  std::thread keyboard_command_process;
-
-  measurement_process = std::thread(process);
-  keyboard_command_process = std::thread(command);
-
-  ros::spin();
-
-  return 0;
-}

From 12e428089ff5e92078c207f36633ccef85a9ce11 Mon Sep 17 00:00:00 2001
From: Kee Jin <yoplocheo@gmail.com>
Date: Sun, 9 Mar 2025 21:55:08 +0800
Subject: [PATCH 2/5] [#37] pose_graph: updated PoseGraphEventObserver
 interface

---
 .../details/pose_graph_event_observer.hpp     | 10 +--
 pose_graph/src/pose_graph.cpp                 |  9 ++-
 .../pose_graph_ros/pose_graph_node.hpp        | 74 +++++++------------
 3 files changed, 36 insertions(+), 57 deletions(-)

diff --git a/pose_graph/include/pose_graph/details/pose_graph_event_observer.hpp b/pose_graph/include/pose_graph/details/pose_graph_event_observer.hpp
index f43ee37d5..cb56642ed 100644
--- a/pose_graph/include/pose_graph/details/pose_graph_event_observer.hpp
+++ b/pose_graph/include/pose_graph/details/pose_graph_event_observer.hpp
@@ -17,24 +17,24 @@
 #include "pose_graph/details/keyframe.h"
 
 namespace pose_graph {
-class PoseGraphEventObserver
-    : public std::enable_shared_from_this<PoseGraphEventObserver> {
+class PoseGraphEventObserver {
  public:
   PoseGraphEventObserver() = default;
   virtual ~PoseGraphEventObserver() = default;
 
   virtual void OnPoseGraphLoaded() = 0;
   virtual void OnPoseGraphSaved() = 0;
-  virtual void OnKeyFrameAdded(KeyFrame::Attributes kf_attribute) = 0;
+  virtual void OnKeyFrameAdded(KeyFrame::Attributes kf_attribute,
+                               int sequence_count) = 0;
   virtual void OnKeyFrameLoaded(KeyFrame::Attributes kf_attribute,
-                                int count) = 0;
+                                int count, int sequence_count) = 0;
   virtual void OnKeyFrameConnectionFound(
       KeyFrame::Attributes current_kf_attribute,
       KeyFrame::Attributes old_kf_attribute,
       std::vector<cv::Point2f> matched_2d_old_norm,
       std::vector<double> matched_id, cv::Mat& thumb_image) = 0;
   virtual void OnPoseGraphOptimization(
-      std::vector<KeyFrame::Attributes> kf_attributes) = 0;
+      std::vector<KeyFrame::Attributes> kf_attributes, int sequence_count) = 0;
   virtual void OnNewSequentialEdge(Eigen::Vector3d p1, Eigen::Vector3d p2) = 0;
   virtual void OnNewLoopEdge(Eigen::Vector3d p1, Eigen::Vector3d p2) = 0;
 };
diff --git a/pose_graph/src/pose_graph.cpp b/pose_graph/src/pose_graph.cpp
index 1b4b5f1e3..ae4b24135 100644
--- a/pose_graph/src/pose_graph.cpp
+++ b/pose_graph/src/pose_graph.cpp
@@ -241,7 +241,8 @@ bool PoseGraph::Load() {
       }
     }
     if (event_observer_) {
-      event_observer_->OnKeyFrameLoaded(current_kf_attribute, count);
+      event_observer_->OnKeyFrameLoaded(current_kf_attribute, count,
+                                        GetCurrentSequenceCount());
     }
     count++;
   }
@@ -489,7 +490,8 @@ void PoseGraph::AddKeyFrame(std::shared_ptr<KeyFrame> current_keyframe) {
   }
 
   // Generic callback
-  event_observer_->OnKeyFrameAdded(current_keyframe->getAttributes());
+  event_observer_->OnKeyFrameAdded(current_keyframe->getAttributes(),
+                                   GetCurrentSequenceCount());
 }
 
 void PoseGraph::AddKeyFrame(std::shared_ptr<KeyFrame> current_keyframe,
@@ -1008,7 +1010,8 @@ void PoseGraph::StartOptimizationThread() {
       Optimize4DoF();
       auto kf_attributes = GetKeyFrameAttributes();
       if (event_observer_) {
-        event_observer_->OnPoseGraphOptimization(kf_attributes);
+        event_observer_->OnPoseGraphOptimization(kf_attributes,
+                                                 GetCurrentSequenceCount());
       }
       std::this_thread::sleep_for(std::chrono::milliseconds(2000));
     }
diff --git a/pose_graph_ros/include/pose_graph_ros/pose_graph_node.hpp b/pose_graph_ros/include/pose_graph_ros/pose_graph_node.hpp
index 8413c285f..e0a033b66 100644
--- a/pose_graph_ros/include/pose_graph_ros/pose_graph_node.hpp
+++ b/pose_graph_ros/include/pose_graph_ros/pose_graph_node.hpp
@@ -16,7 +16,6 @@
 
 #include <nav_msgs/Odometry.h>
 #include <nav_msgs/Path.h>
-#include <opencv2/opencv.hpp>
 #include <ros/ros.h>
 #include <sensor_msgs/Image.h>
 #include <sensor_msgs/image_encodings.h>
@@ -24,11 +23,11 @@
 
 #include "camodocal/camera_models/CameraFactory.h"
 #include "pose_graph/pose_graph.hpp"
-#include "pose_graph/details/pose_graph_event_observer.hpp"
+
 #include "pose_graph_ros/utility/CameraPoseVisualization.h"
 
 namespace pose_graph {
-class PoseGraphNode : public PoseGraphEventObserver {
+class PoseGraphNode {
  public:
   ~PoseGraphNode();
 
@@ -40,24 +39,8 @@ class PoseGraphNode : public PoseGraphEventObserver {
   void StartCommandAndProcessingThreads();
   void Process();
   void Command();
-  void Publish();
   void NewSequence();
 
-  // PoseGraphEventObserver callbacks
-  void OnPoseGraphLoaded() final;
-  void OnPoseGraphSaved() final;
-  void OnKeyFrameAdded(KeyFrame::Attributes kf_attribute) final;
-  void OnKeyFrameLoaded(KeyFrame::Attributes kf_attribute, int count) final;
-  void OnKeyFrameConnectionFound(KeyFrame::Attributes current_kf_attribute,
-                                 KeyFrame::Attributes old_kf_attribute,
-                                 std::vector<cv::Point2f> matched_2d_old_norm,
-                                 std::vector<double> matched_id,
-                                 cv::Mat& thumb_image) final;
-  void OnPoseGraphOptimization(
-      std::vector<KeyFrame::Attributes> kf_attributes) final;
-  void OnNewSequentialEdge(Vector3d p1, Vector3d p2) final;
-  void OnNewLoopEdge(Vector3d p1, Vector3d p2) final;
-
   // ros callbacks
   void ImuForwardCallback(const nav_msgs::OdometryConstPtr& forward_msg);
   void VioCallback(const nav_msgs::OdometryConstPtr& pose_msg);
@@ -69,35 +52,19 @@ class PoseGraphNode : public PoseGraphEventObserver {
 
  private:
   ros::NodeHandle nh_{"~"};
+
+  // pose graph
   PoseGraphConfig config_;
   PoseGraph pose_graph_ = PoseGraph();
-  std::unique_ptr<CameraPoseVisualization> camera_pose_vis_;
-  bool loop_closure_;
-  camodocal::CameraPtr camera_;  // Note: internally it uses a shared pointer.
-  bool visualise_imu_forward_;
-  std::queue<sensor_msgs::ImageConstPtr> image_buffer_;
-  std::queue<sensor_msgs::PointCloudConstPtr> point_buffer_;
-  std::queue<nav_msgs::Odometry::ConstPtr> pose_buffer_;
-  std::queue<Eigen::Vector3d> odometry_buffer_;
-  std::mutex buffer_mutex_;
-  std::mutex process_mutex_;
-  Eigen::Vector3d last_t_ = {-100, -100, -100};
-  std::string vins_result_path_;
-  std::string image_topic_;
-  nav_msgs::Path path_[10];
-  nav_msgs::Path base_path_;
-  nav_msgs::Path no_loop_path_;
-  std::unique_ptr<CameraPoseVisualization> posegraph_visualization_;
+  class PoseGraphEventObserverImpl; // forward declaration
+  std::shared_ptr<PoseGraphEventObserverImpl> pose_graph_event_observer_;
 
   // ros parameters
   std::string config_file_path_;
-  int visualization_shift_x_ = 0;
-  int visualization_shift_y_ = 0;
   int skip_cnt_threshold_ = 0;
   int skip_cnt_ = 0;
   double skip_distance_ = 0.0;
   static const int skip_first_cnt_threshold = 10;
-  const bool save_loop_path = true;
   int skip_first_cnt_ = 0;
   int frame_index_ = 0;
   int sequence_index_ = 1;
@@ -106,6 +73,11 @@ class PoseGraphNode : public PoseGraphEventObserver {
   std::thread measurement_thread_;
   std::thread keyboard_command_thread_;
 
+  // ros publishers
+  ros::Publisher pub_camera_pose_visual_;
+  ros::Publisher pub_key_odometrys_;
+  ros::Publisher pub_vio_path_;
+
   // ros subscribers
   ros::Subscriber sub_imu_forward_;
   ros::Subscriber sub_vio_;
@@ -115,16 +87,20 @@ class PoseGraphNode : public PoseGraphEventObserver {
   ros::Subscriber sub_point_;
   ros::Subscriber sub_relo_relative_pose_;
 
-  // ros publishers
-  ros::Publisher pub_match_points_;
-  ros::Publisher pub_camera_pose_visual_;
-  ros::Publisher pub_key_odometrys_;
-  ros::Publisher pub_vio_path_;
-  ros::Publisher pub_pg_path_;
-  ros::Publisher pub_base_path_;
-  ros::Publisher pub_pose_graph_;
-  ros::Publisher pub_path_[10];
-  ros::Publisher pub_match_img_;
+  // others
+  std::unique_ptr<CameraPoseVisualization> camera_pose_vis_;
+  bool loop_closure_;
+  camodocal::CameraPtr camera_;  // Note: internally it uses a shared pointer.
+  bool visualise_imu_forward_;
+  std::queue<sensor_msgs::ImageConstPtr> image_buffer_;
+  std::queue<sensor_msgs::PointCloudConstPtr> point_buffer_;
+  std::queue<nav_msgs::Odometry::ConstPtr> pose_buffer_;
+  std::queue<Eigen::Vector3d> odometry_buffer_;
+  std::mutex buffer_mutex_;
+  std::mutex process_mutex_;
+  Eigen::Vector3d last_t_ = {-100, -100, -100};
+  std::string image_topic_;
+  nav_msgs::Path no_loop_path_;
 };
 }  // namespace pose_graph
 

From 018d7844395be56f275c4a0db9e2308c42af7eb9 Mon Sep 17 00:00:00 2001
From: Kee Jin <yoplocheo@gmail.com>
Date: Sun, 9 Mar 2025 21:55:45 +0800
Subject: [PATCH 3/5] config: updated rviz config to enable all topics by
 default

---
 config/vins_rviz_config.rviz | 235 ++++++++++++++++++++---------------
 1 file changed, 132 insertions(+), 103 deletions(-)

diff --git a/config/vins_rviz_config.rviz b/config/vins_rviz_config.rviz
index 6ed63a93d..0ffefd1b3 100644
--- a/config/vins_rviz_config.rviz
+++ b/config/vins_rviz_config.rviz
@@ -4,8 +4,8 @@ Panels:
     Name: Displays
     Property Tree Widget:
       Expanded: ~
-      Splitter Ratio: 0.465115994
-    Tree Height: 221
+      Splitter Ratio: 0.4651159942150116
+    Tree Height: 168
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -14,14 +14,13 @@ Panels:
       - /2D Nav Goal1
       - /Publish Point1
     Name: Tool Properties
-    Splitter Ratio: 0.588679016
+    Splitter Ratio: 0.5886790156364441
   - Class: rviz/Views
     Expanded:
       - /Current View1
     Name: Views
     Splitter Ratio: 0.5
   - Class: rviz/Time
-    Experimental: false
     Name: Time
     SyncMode: 0
     SyncSource: tracked image
@@ -31,7 +30,11 @@ Panels:
     Property Tree Widget:
       Expanded: ~
       Splitter Ratio: 0.5
-    Tree Height: 359
+    Tree Height: 365
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
 Visualization Manager:
   Class: ""
   Displays:
@@ -41,7 +44,7 @@ Visualization Manager:
       Color: 130; 130; 130
       Enabled: true
       Line Style:
-        Line Width: 0.0299999993
+        Line Width: 0.029999999329447746
         Value: Lines
       Name: Grid
       Normal Cell Count: 0
@@ -53,21 +56,23 @@ Visualization Manager:
       Plane Cell Count: 10
       Reference Frame: <Fixed Frame>
       Value: true
-    - Class: rviz/Axes
+    - Alpha: 1
+      Class: rviz/Axes
       Enabled: true
       Length: 1
       Name: Axes
-      Radius: 0.100000001
+      Radius: 0.10000000149011612
       Reference Frame: <Fixed Frame>
+      Show Trail: false
       Value: true
     - Alpha: 1
       Buffer Length: 1
       Class: rviz/Path
       Color: 255; 0; 0
       Enabled: true
-      Head Diameter: 0.300000012
-      Head Length: 0.200000003
-      Length: 0.300000012
+      Head Diameter: 0.30000001192092896
+      Head Length: 0.20000000298023224
+      Length: 0.30000001192092896
       Line Style: Lines
       Line Width: 0.5
       Name: ground_truth_path
@@ -77,9 +82,10 @@ Visualization Manager:
         Z: 0
       Pose Color: 255; 85; 255
       Pose Style: None
-      Radius: 0.0299999993
-      Shaft Diameter: 0.100000001
-      Shaft Length: 0.100000001
+      Queue Size: 10
+      Radius: 0.029999999329447746
+      Shaft Diameter: 0.10000000149011612
+      Shaft Length: 0.10000000149011612
       Topic: /benchmark_publisher/path
       Unreliable: false
       Value: true
@@ -96,7 +102,7 @@ Visualization Manager:
       Unreliable: false
       Value: true
     - Class: rviz/Image
-      Enabled: false
+      Enabled: true
       Image Topic: /cam0/image_raw
       Max Value: 1
       Median window: 5
@@ -106,7 +112,7 @@ Visualization Manager:
       Queue Size: 2
       Transport Hint: raw
       Unreliable: false
-      Value: false
+      Value: true
     - Class: rviz/Group
       Displays:
         - Alpha: 1
@@ -114,11 +120,11 @@ Visualization Manager:
           Class: rviz/Path
           Color: 0; 255; 0
           Enabled: true
-          Head Diameter: 0.300000012
-          Head Length: 0.200000003
-          Length: 0.300000012
+          Head Diameter: 0.30000001192092896
+          Head Length: 0.20000000298023224
+          Length: 0.30000001192092896
           Line Style: Lines
-          Line Width: 0.0299999993
+          Line Width: 0.029999999329447746
           Name: Path
           Offset:
             X: 0
@@ -126,9 +132,10 @@ Visualization Manager:
             Z: 0
           Pose Color: 255; 85; 255
           Pose Style: None
-          Radius: 0.0299999993
-          Shaft Diameter: 0.100000001
-          Shaft Length: 0.100000001
+          Queue Size: 10
+          Radius: 0.029999999329447746
+          Shaft Diameter: 0.10000000149011612
+          Shaft Length: 0.10000000149011612
           Topic: /vins_estimator/path
           Unreliable: false
           Value: true
@@ -137,7 +144,7 @@ Visualization Manager:
           Marker Topic: /vins_estimator/camera_pose_visual
           Name: camera_visual
           Namespaces:
-            {}
+            CameraPoseVisualization: true
           Queue Size: 100
           Value: true
         - Alpha: 1
@@ -155,15 +162,13 @@ Visualization Manager:
           Enabled: true
           Invert Rainbow: false
           Max Color: 255; 255; 255
-          Max Intensity: 4096
           Min Color: 0; 0; 0
-          Min Intensity: 0
           Name: current_point
           Position Transformer: XYZ
           Queue Size: 10
           Selectable: true
           Size (Pixels): 1
-          Size (m): 0.00999999978
+          Size (m): 0.009999999776482582
           Style: Points
           Topic: /vins_estimator/point_cloud
           Unreliable: false
@@ -202,19 +207,31 @@ Visualization Manager:
           Value: false
         - Class: rviz/TF
           Enabled: true
+          Filter (blacklist): ""
+          Filter (whitelist): ""
           Frame Timeout: 15
           Frames:
             All Enabled: true
+            body:
+              Value: true
+            camera:
+              Value: true
+            world:
+              Value: true
+          Marker Alpha: 1
           Marker Scale: 1
           Name: TF
           Show Arrows: true
           Show Axes: true
           Show Names: true
           Tree:
-            {}
+            world:
+              body:
+                camera:
+                  {}
           Update Interval: 0
           Value: true
-      Enabled: false
+      Enabled: true
       Name: VIO
     - Class: rviz/Group
       Displays:
@@ -223,11 +240,11 @@ Visualization Manager:
           Class: rviz/Path
           Color: 0; 255; 0
           Enabled: true
-          Head Diameter: 0.300000012
-          Head Length: 0.200000003
-          Length: 0.300000012
+          Head Diameter: 0.30000001192092896
+          Head Length: 0.20000000298023224
+          Length: 0.30000001192092896
           Line Style: Lines
-          Line Width: 0.0299999993
+          Line Width: 0.029999999329447746
           Name: pose_graph_path
           Offset:
             X: 0
@@ -235,9 +252,10 @@ Visualization Manager:
             Z: 0
           Pose Color: 255; 85; 255
           Pose Style: None
-          Radius: 0.0299999993
-          Shaft Diameter: 0.100000001
-          Shaft Length: 0.100000001
+          Queue Size: 10
+          Radius: 0.029999999329447746
+          Shaft Diameter: 0.10000000149011612
+          Shaft Length: 0.10000000149011612
           Topic: /pose_graph/pose_graph_path
           Unreliable: false
           Value: true
@@ -246,11 +264,11 @@ Visualization Manager:
           Class: rviz/Path
           Color: 255; 170; 0
           Enabled: true
-          Head Diameter: 0.300000012
-          Head Length: 0.200000003
-          Length: 0.300000012
+          Head Diameter: 0.30000001192092896
+          Head Length: 0.20000000298023224
+          Length: 0.30000001192092896
           Line Style: Lines
-          Line Width: 0.0299999993
+          Line Width: 0.029999999329447746
           Name: base_path
           Offset:
             X: 0
@@ -258,9 +276,10 @@ Visualization Manager:
             Z: 0
           Pose Color: 255; 85; 255
           Pose Style: None
-          Radius: 0.0299999993
-          Shaft Diameter: 0.100000001
-          Shaft Length: 0.100000001
+          Queue Size: 10
+          Radius: 0.029999999329447746
+          Shaft Diameter: 0.10000000149011612
+          Shaft Length: 0.10000000149011612
           Topic: /pose_graph/base_path
           Unreliable: false
           Value: true
@@ -269,7 +288,7 @@ Visualization Manager:
           Marker Topic: /pose_graph/pose_graph
           Name: loop_visual
           Namespaces:
-            {}
+            CameraPoseVisualization: true
           Queue Size: 100
           Value: true
         - Class: rviz/MarkerArray
@@ -277,7 +296,7 @@ Visualization Manager:
           Marker Topic: /pose_graph/camera_pose_visual
           Name: camera_visual
           Namespaces:
-            {}
+            CameraPoseVisualization: true
           Queue Size: 100
           Value: true
         - Class: rviz/Image
@@ -297,7 +316,7 @@ Visualization Manager:
           Marker Topic: /pose_graph/key_odometrys
           Name: Marker
           Namespaces:
-            {}
+            key_odometrys: true
           Queue Size: 100
           Value: true
         - Alpha: 1
@@ -305,11 +324,11 @@ Visualization Manager:
           Class: rviz/Path
           Color: 25; 255; 0
           Enabled: true
-          Head Diameter: 0.300000012
-          Head Length: 0.200000003
-          Length: 0.300000012
+          Head Diameter: 0.30000001192092896
+          Head Length: 0.20000000298023224
+          Length: 0.30000001192092896
           Line Style: Lines
-          Line Width: 0.300000012
+          Line Width: 0.30000001192092896
           Name: Sequence1
           Offset:
             X: 0
@@ -317,9 +336,10 @@ Visualization Manager:
             Z: 0
           Pose Color: 255; 85; 255
           Pose Style: None
-          Radius: 0.0299999993
-          Shaft Diameter: 0.100000001
-          Shaft Length: 0.100000001
+          Queue Size: 10
+          Radius: 0.029999999329447746
+          Shaft Diameter: 0.10000000149011612
+          Shaft Length: 0.10000000149011612
           Topic: /pose_graph/path_1
           Unreliable: false
           Value: true
@@ -328,11 +348,11 @@ Visualization Manager:
           Class: rviz/Path
           Color: 255; 0; 0
           Enabled: true
-          Head Diameter: 0.300000012
-          Head Length: 0.200000003
-          Length: 0.300000012
+          Head Diameter: 0.30000001192092896
+          Head Length: 0.20000000298023224
+          Length: 0.30000001192092896
           Line Style: Lines
-          Line Width: 0.300000012
+          Line Width: 0.30000001192092896
           Name: Sequence2
           Offset:
             X: 0
@@ -340,9 +360,10 @@ Visualization Manager:
             Z: 0
           Pose Color: 255; 85; 255
           Pose Style: None
-          Radius: 0.0299999993
-          Shaft Diameter: 0.100000001
-          Shaft Length: 0.100000001
+          Queue Size: 10
+          Radius: 0.029999999329447746
+          Shaft Diameter: 0.10000000149011612
+          Shaft Length: 0.10000000149011612
           Topic: /pose_graph/path_2
           Unreliable: false
           Value: true
@@ -351,11 +372,11 @@ Visualization Manager:
           Class: rviz/Path
           Color: 0; 85; 255
           Enabled: true
-          Head Diameter: 0.300000012
-          Head Length: 0.200000003
-          Length: 0.300000012
+          Head Diameter: 0.30000001192092896
+          Head Length: 0.20000000298023224
+          Length: 0.30000001192092896
           Line Style: Lines
-          Line Width: 0.300000012
+          Line Width: 0.30000001192092896
           Name: Sequence3
           Offset:
             X: 0
@@ -363,9 +384,10 @@ Visualization Manager:
             Z: 0
           Pose Color: 255; 85; 255
           Pose Style: None
-          Radius: 0.0299999993
-          Shaft Diameter: 0.100000001
-          Shaft Length: 0.100000001
+          Queue Size: 10
+          Radius: 0.029999999329447746
+          Shaft Diameter: 0.10000000149011612
+          Shaft Length: 0.10000000149011612
           Topic: /pose_graph/path_3
           Unreliable: false
           Value: true
@@ -374,11 +396,11 @@ Visualization Manager:
           Class: rviz/Path
           Color: 255; 170; 0
           Enabled: true
-          Head Diameter: 0.300000012
-          Head Length: 0.200000003
-          Length: 0.300000012
+          Head Diameter: 0.30000001192092896
+          Head Length: 0.20000000298023224
+          Length: 0.30000001192092896
           Line Style: Lines
-          Line Width: 0.300000012
+          Line Width: 0.30000001192092896
           Name: Sequence4
           Offset:
             X: 0
@@ -386,9 +408,10 @@ Visualization Manager:
             Z: 0
           Pose Color: 255; 85; 255
           Pose Style: None
-          Radius: 0.0299999993
-          Shaft Diameter: 0.100000001
-          Shaft Length: 0.100000001
+          Queue Size: 10
+          Radius: 0.029999999329447746
+          Shaft Diameter: 0.10000000149011612
+          Shaft Length: 0.10000000149011612
           Topic: /pose_graph/path_4
           Unreliable: false
           Value: true
@@ -397,11 +420,11 @@ Visualization Manager:
           Class: rviz/Path
           Color: 255; 170; 255
           Enabled: true
-          Head Diameter: 0.300000012
-          Head Length: 0.200000003
-          Length: 0.300000012
+          Head Diameter: 0.30000001192092896
+          Head Length: 0.20000000298023224
+          Length: 0.30000001192092896
           Line Style: Lines
-          Line Width: 0.0299999993
+          Line Width: 0.029999999329447746
           Name: Sequence5
           Offset:
             X: 0
@@ -409,9 +432,10 @@ Visualization Manager:
             Z: 0
           Pose Color: 255; 85; 255
           Pose Style: None
-          Radius: 0.0299999993
-          Shaft Diameter: 0.100000001
-          Shaft Length: 0.100000001
+          Queue Size: 10
+          Radius: 0.029999999329447746
+          Shaft Diameter: 0.10000000149011612
+          Shaft Length: 0.10000000149011612
           Topic: /pose_graph/path_5
           Unreliable: false
           Value: true
@@ -420,11 +444,11 @@ Visualization Manager:
           Class: rviz/Path
           Color: 25; 255; 0
           Enabled: true
-          Head Diameter: 0.300000012
-          Head Length: 0.200000003
-          Length: 0.300000012
+          Head Diameter: 0.30000001192092896
+          Head Length: 0.20000000298023224
+          Length: 0.30000001192092896
           Line Style: Lines
-          Line Width: 0.0299999993
+          Line Width: 0.029999999329447746
           Name: no_loop_path
           Offset:
             X: 0
@@ -432,9 +456,10 @@ Visualization Manager:
             Z: 0
           Pose Color: 255; 85; 255
           Pose Style: None
-          Radius: 0.0299999993
-          Shaft Diameter: 0.100000001
-          Shaft Length: 0.100000001
+          Queue Size: 10
+          Radius: 0.029999999329447746
+          Shaft Diameter: 0.10000000149011612
+          Shaft Length: 0.10000000149011612
           Topic: /pose_graph/no_loop_path
           Unreliable: false
           Value: true
@@ -443,6 +468,7 @@ Visualization Manager:
   Enabled: true
   Global Options:
     Background Color: 0; 0; 0
+    Default Light: true
     Fixed Frame: world
     Frame Rate: 30
   Name: root
@@ -452,7 +478,10 @@ Visualization Manager:
     - Class: rviz/FocusCamera
     - Class: rviz/Measure
     - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
       Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
     - Class: rviz/SetGoal
       Topic: /move_base_simple/goal
     - Class: rviz/PublishPoint
@@ -462,33 +491,33 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/XYOrbit
-      Distance: 20.9684067
+      Distance: 14.08361530303955
       Enable Stereo Rendering:
-        Stereo Eye Separation: 0.0599999987
+        Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
+      Field of View: 0.7853981852531433
       Focal Point:
-        X: -2.7069304
-        Y: -1.26974416
-        Z: 2.1410624e-05
+        X: -1.4666130542755127
+        Y: -0.9299832582473755
+        Z: 2.141062395821791e-05
       Focal Shape Fixed Size: true
-      Focal Shape Size: 0.0500000007
+      Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
-      Near Clip Distance: 0.00999999978
-      Pitch: 1.0797962
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 1.1397961378097534
       Target Frame: <Fixed Frame>
-      Value: XYOrbit (rviz)
-      Yaw: 3.08722663
+      Yaw: 3.0522265434265137
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 912
+  Height: 1016
   Hide Left Dock: false
   Hide Right Dock: true
-  QMainWindow State: 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
+  QMainWindow State: 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
   Selection:
     collapsed: false
   Time:
@@ -497,9 +526,9 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: true
-  Width: 1390
-  X: 2127
-  Y: 109
+  Width: 1862
+  X: 1138
+  Y: 453
   loop_match_image:
     collapsed: false
   raw_image:

From 91ad8d44a2d74ae9334dedfc58f0240bfecd42a2 Mon Sep 17 00:00:00 2001
From: Kee Jin <yoplocheo@gmail.com>
Date: Sun, 9 Mar 2025 21:57:45 +0800
Subject: [PATCH 4/5] [#37] pose_graph_ros: Implemented
 PoseGraphEventObserverImpl using pimpl pattern and updated observer usage in
 PoseGraphNode. PoseGraphNode class no longer inherits from
 std::enable_shared_from_this.

---
 pose_graph_ros/CMakeLists.txt                 |   1 +
 .../src/pose_graph_event_observer_impl.cpp    | 303 ++++++++++++++++++
 .../src/pose_graph_event_observer_impl.hpp    |  76 +++++
 pose_graph_ros/src/pose_graph_node.cpp        | 284 ++--------------
 4 files changed, 400 insertions(+), 264 deletions(-)
 create mode 100644 pose_graph_ros/src/pose_graph_event_observer_impl.cpp
 create mode 100644 pose_graph_ros/src/pose_graph_event_observer_impl.hpp

diff --git a/pose_graph_ros/CMakeLists.txt b/pose_graph_ros/CMakeLists.txt
index 31f5986a1..8e1c509c6 100644
--- a/pose_graph_ros/CMakeLists.txt
+++ b/pose_graph_ros/CMakeLists.txt
@@ -22,6 +22,7 @@ catkin_package()
 
 add_executable(pose_graph_node
     src/pose_graph_node.cpp
+    src/pose_graph_event_observer_impl.cpp
     src/utility/CameraPoseVisualization.cpp
     )
 
diff --git a/pose_graph_ros/src/pose_graph_event_observer_impl.cpp b/pose_graph_ros/src/pose_graph_event_observer_impl.cpp
new file mode 100644
index 000000000..2b17cd1d3
--- /dev/null
+++ b/pose_graph_ros/src/pose_graph_event_observer_impl.cpp
@@ -0,0 +1,303 @@
+/**
+ * @file pose_graph_event_observer_impl.cpp
+ * @brief
+ * @date 09-03-2025
+ *
+ * @copyright Copyright (c) 2025 Cheo Kee Jin.
+ */
+
+#include "pose_graph_event_observer_impl.hpp"
+
+#include <fstream>
+
+#include <cv_bridge/cv_bridge.h>
+#include <sensor_msgs/Image.h>
+#include <sensor_msgs/PointCloud.h>
+
+#define SHOW_S_EDGE false
+#define SHOW_L_EDGE true
+
+namespace pose_graph {
+PoseGraphNode::PoseGraphEventObserverImpl::PoseGraphEventObserverImpl(
+    ros::NodeHandle& nh, const std::string config_file_path)
+    : nh_(nh) {
+  posegraph_visualization_ =
+      std::make_unique<CameraPoseVisualization>(1.0, 0.0, 1.0, 1.0);
+  posegraph_visualization_->setScale(0.1);
+  posegraph_visualization_->setLineWidth(0.01);
+
+  // Load config file
+  cv::FileStorage fs(config_file_path, cv::FileStorage::READ);
+  if (!fs.isOpened()) {
+    ROS_ERROR("PoseGraphEventObserver::Failed to open config file: %s",
+              config_file_path.c_str());
+    ros::shutdown();
+  }
+
+  fast_relocalization_ = (int)fs["fast_relocalization"];
+
+  vins_result_path_ = std::string(fs["output_path"]);
+  FileSystemHelper::createDirectoryIfNotExists(vins_result_path_.c_str());
+  vins_result_path_ = vins_result_path_ + "/vins_result_loop.csv";
+
+  fs.release();
+
+  if (!ReadParameters()) {
+    ROS_ERROR("PoseGraphEventObserver::Failed to read parameters");
+    ros::shutdown();
+  }
+
+  StartPublishers();
+}
+
+void PoseGraphNode::PoseGraphEventObserverImpl::Publish(int sequence_count) {
+  for (int i = 1; i <= sequence_count; i++) {
+    pub_pg_path_.publish(path_[i]);
+    pub_path_[i].publish(path_[i]);
+    posegraph_visualization_->publish_by(pub_pose_graph_,
+                                         path_[sequence_count].header);
+  }
+  base_path_.header.frame_id = "world";
+  pub_base_path_.publish(base_path_);
+}
+
+void PoseGraphNode::PoseGraphEventObserverImpl::ResetPoseGraphVisualisation() {
+  posegraph_visualization_->reset();
+}
+
+bool PoseGraphNode::PoseGraphEventObserverImpl::ReadParameters() {
+  nh_.getParam("visualization_shift_x", visualization_shift_x_);
+  nh_.getParam("visualization_shift_y", visualization_shift_y_);
+
+  ROS_INFO(
+      "Loaded parameters: visualization_shift_x: %d, "
+      "visualization_shift_y: %d",
+      visualization_shift_x_, visualization_shift_y_);
+
+  return true;
+}
+
+void PoseGraphNode::PoseGraphEventObserverImpl::StartPublishers() {
+  pub_match_img_ = nh_.advertise<sensor_msgs::Image>("match_image", 2000);
+  pub_match_points_ =
+      nh_.advertise<sensor_msgs::PointCloud>("match_points", 100);
+  pub_pg_path_ = nh_.advertise<nav_msgs::Path>("pose_graph_path", 1000);
+  pub_base_path_ = nh_.advertise<nav_msgs::Path>("base_path", 1000);
+  pub_pose_graph_ =
+      nh_.advertise<visualization_msgs::MarkerArray>("pose_graph", 1000);
+  for (int i = 1; i < 10; i++)
+    pub_path_[i] = nh_.advertise<nav_msgs::Path>("path_" + to_string(i), 1000);
+}
+
+void PoseGraphNode::PoseGraphEventObserverImpl::OnPoseGraphLoaded() {
+  ROS_DEBUG("Pose graph loaded");
+}
+
+void PoseGraphNode::PoseGraphEventObserverImpl::OnPoseGraphSaved() {
+  ROS_DEBUG("Pose graph saved");
+}
+
+void PoseGraphNode::PoseGraphEventObserverImpl::OnKeyFrameAdded(
+    KeyFrame::Attributes kf_attribute, int sequence_count) {
+  ROS_DEBUG("On Keyframe added");
+
+  Eigen::Quaterniond quarternion{kf_attribute.rotation};
+  geometry_msgs::PoseStamped pose_stamped;
+  pose_stamped.header.stamp = ros::Time(kf_attribute.time_stamp);
+  pose_stamped.header.frame_id = "world";
+  pose_stamped.pose.position.x =
+      kf_attribute.position.x() + visualization_shift_x_;
+  pose_stamped.pose.position.y =
+      kf_attribute.position.y() + visualization_shift_y_;
+  pose_stamped.pose.position.z = kf_attribute.position.z();
+  pose_stamped.pose.orientation.x = quarternion.x();
+  pose_stamped.pose.orientation.y = quarternion.y();
+  pose_stamped.pose.orientation.z = quarternion.z();
+  pose_stamped.pose.orientation.w = quarternion.w();
+  path_[sequence_count].poses.push_back(pose_stamped);
+  path_[sequence_count].header = pose_stamped.header;
+
+  if (save_loop_path) {
+    std::ofstream loop_path_file(vins_result_path_, ios::app);
+    loop_path_file.setf(ios::fixed, ios::floatfield);
+    loop_path_file.precision(0);
+    loop_path_file << kf_attribute.time_stamp * 1e9 << ",";
+    loop_path_file.precision(5);
+    loop_path_file << kf_attribute.position.x() << ","
+                   << kf_attribute.position.y() << ","
+                   << kf_attribute.position.z() << "," << quarternion.w() << ","
+                   << quarternion.x() << "," << quarternion.y() << ","
+                   << quarternion.z() << "," << endl;
+    loop_path_file.close();
+  }
+
+  Publish(sequence_count);
+}
+
+void PoseGraphNode::PoseGraphEventObserverImpl::OnKeyFrameLoaded(
+    KeyFrame::Attributes kf_attribute, int count, int sequence_count) {
+  ROS_INFO("On Keyframe loaded");
+  Eigen::Quaterniond Q{kf_attribute.rotation};
+  geometry_msgs::PoseStamped pose_stamped;
+  pose_stamped.header.stamp = ros::Time(kf_attribute.time_stamp);
+  pose_stamped.header.frame_id = "world";
+  pose_stamped.pose.position.x =
+      kf_attribute.position.x() + visualization_shift_x_;
+  pose_stamped.pose.position.y =
+      kf_attribute.position.y() + visualization_shift_y_;
+  pose_stamped.pose.position.z = kf_attribute.position.z();
+  pose_stamped.pose.orientation.x = Q.x();
+  pose_stamped.pose.orientation.y = Q.y();
+  pose_stamped.pose.orientation.z = Q.z();
+  pose_stamped.pose.orientation.w = Q.w();
+  base_path_.poses.push_back(pose_stamped);
+  base_path_.header = pose_stamped.header;
+
+  if (count % 20 == 0) {
+    Publish(sequence_count);
+  }
+}
+
+void PoseGraphNode::PoseGraphEventObserverImpl::OnKeyFrameConnectionFound(
+    KeyFrame::Attributes current_kf_attribute,
+    KeyFrame::Attributes old_kf_attribute,
+    std::vector<cv::Point2f> matched_2d_old_norm,
+    std::vector<double> matched_id, cv::Mat& thumb_image) {
+  ROS_DEBUG("On Keyframe connection found");
+  {
+    sensor_msgs::ImagePtr msg =
+        cv_bridge::CvImage(std_msgs::Header(), "bgr8", thumb_image)
+            .toImageMsg();
+    msg->header.stamp = ros::Time(current_kf_attribute.time_stamp);
+    pub_match_img_.publish(msg);
+  }
+  if (fast_relocalization_) {
+    sensor_msgs::PointCloud msg_match_points;
+    msg_match_points.header.stamp = ros::Time(current_kf_attribute.time_stamp);
+    for (int i = 0; i < (int)matched_2d_old_norm.size(); i++) {
+      geometry_msgs::Point32 p;
+      p.x = matched_2d_old_norm[i].x;
+      p.y = matched_2d_old_norm[i].y;
+      p.z = matched_id[i];
+      msg_match_points.points.push_back(p);
+    }
+    Eigen::Vector3d T = old_kf_attribute.position;
+    Eigen::Matrix3d R = old_kf_attribute.rotation;
+    Quaterniond Q(R);
+    sensor_msgs::ChannelFloat32 t_q_index;
+    t_q_index.values.push_back(T.x());
+    t_q_index.values.push_back(T.y());
+    t_q_index.values.push_back(T.z());
+    t_q_index.values.push_back(Q.w());
+    t_q_index.values.push_back(Q.x());
+    t_q_index.values.push_back(Q.y());
+    t_q_index.values.push_back(Q.z());
+    t_q_index.values.push_back(current_kf_attribute.index);
+    msg_match_points.channels.push_back(t_q_index);
+    pub_match_points_.publish(msg_match_points);
+  }
+}
+
+void PoseGraphNode::PoseGraphEventObserverImpl::OnPoseGraphOptimization(
+    std::vector<KeyFrame::Attributes> kf_attributes, int sequence_count) {
+  // ROS_INFO("On Pose graph optimization");
+  std::vector<KeyFrame::Attributes>::iterator it;
+  for (int i = 1; i <= sequence_count; i++) {
+    path_[i].poses.clear();
+  }
+  base_path_.poses.clear();
+  posegraph_visualization_->reset();
+
+  if (save_loop_path) {
+    std::ofstream loop_path_file_tmp(vins_result_path_, ios::out);
+    loop_path_file_tmp.close();
+  }
+
+  for (it = kf_attributes.begin(); it != kf_attributes.end(); it++) {
+    Eigen::Quaterniond Q;
+    Q = it->rotation;
+    //        printf("path p: %f, %f, %f\n",  P.x(),  P.z(),  P.y() );
+
+    geometry_msgs::PoseStamped pose_stamped;
+    pose_stamped.header.stamp = ros::Time(it->time_stamp);
+    pose_stamped.header.frame_id = "world";
+    pose_stamped.pose.position.x = it->position.x() + visualization_shift_x_;
+    pose_stamped.pose.position.y = it->position.y() + visualization_shift_y_;
+    pose_stamped.pose.position.z = it->position.z();
+    pose_stamped.pose.orientation.x = Q.x();
+    pose_stamped.pose.orientation.y = Q.y();
+    pose_stamped.pose.orientation.z = Q.z();
+    pose_stamped.pose.orientation.w = Q.w();
+    if (it->sequence == 0) {
+      base_path_.poses.push_back(pose_stamped);
+      base_path_.header = pose_stamped.header;
+    } else {
+      path_[it->sequence].poses.push_back(pose_stamped);
+      path_[it->sequence].header = pose_stamped.header;
+    }
+
+    if (save_loop_path && !vins_result_path_.empty()) {
+      std::ofstream loop_path_file(vins_result_path_, ios::app);
+      loop_path_file.setf(ios::fixed, ios::floatfield);
+      loop_path_file.precision(0);
+      loop_path_file << it->time_stamp * 1e9 << ",";
+      loop_path_file.precision(5);
+      loop_path_file << it->position.x() << "," << it->position.y() << ","
+                     << it->position.z() << "," << Q.w() << "," << Q.x() << ","
+                     << Q.y() << "," << Q.z() << "," << endl;
+      loop_path_file.close();
+    }
+
+    if (SHOW_S_EDGE) {
+      std::vector<KeyFrame::Attributes>::reverse_iterator rit =
+          kf_attributes.rbegin();
+      std::vector<KeyFrame::Attributes>::reverse_iterator lrit;
+      for (; rit != kf_attributes.rend(); rit++) {
+        if (rit->index == it->index) {
+          lrit = rit;
+          lrit++;
+          for (int i = 0; i < 4; i++) {
+            if (lrit == kf_attributes.rend()) break;
+            if (lrit->sequence == it->sequence) {
+              posegraph_visualization_->add_edge(it->position, lrit->position);
+            }
+            lrit++;
+          }
+          break;
+        }
+      }
+    }
+    if (SHOW_L_EDGE) {
+      if (it->has_loop && it->sequence == sequence_count) {
+        std::find_if(
+            kf_attributes.begin(), kf_attributes.end(),
+            [&](KeyFrame::Attributes& attr) {
+              if (attr.index == it->loop_index && it->sequence > 0) {
+                posegraph_visualization_->add_loopedge(
+                    it->position,
+                    attr.position + Vector3d(visualization_shift_x_,
+                                             visualization_shift_y_, 0));
+                return true;
+              }
+              return false;
+            });
+      }
+    }
+  }
+
+  Publish(sequence_count);
+}
+
+void PoseGraphNode::PoseGraphEventObserverImpl::OnNewSequentialEdge(
+    Vector3d p1, Vector3d p2) {
+  if (!SHOW_S_EDGE) return;
+  posegraph_visualization_->add_edge(p1, p2);
+}
+
+void PoseGraphNode::PoseGraphEventObserverImpl::OnNewLoopEdge(Vector3d p1,
+                                                              Vector3d p2) {
+  if (!SHOW_L_EDGE) return;
+  p2 += Vector3d(visualization_shift_x_, visualization_shift_y_, 0);
+  posegraph_visualization_->add_loopedge(p1, p2);
+}
+}  // namespace pose_graph
\ No newline at end of file
diff --git a/pose_graph_ros/src/pose_graph_event_observer_impl.hpp b/pose_graph_ros/src/pose_graph_event_observer_impl.hpp
new file mode 100644
index 000000000..d5c4bb671
--- /dev/null
+++ b/pose_graph_ros/src/pose_graph_event_observer_impl.hpp
@@ -0,0 +1,76 @@
+/**
+ * @file pose_graph_event_observer_impl.cpp
+ * @brief
+ * @date 09-03-2025
+ *
+ * @copyright Copyright (c) 2025 Cheo Kee Jin.
+ */
+
+#ifndef SRC_POSE_GRAPH_EVENT_OBSERVER_IMPL_HPP
+#define SRC_POSE_GRAPH_EVENT_OBSERVER_IMPL_HPP
+
+#include <memory>
+
+#include <opencv2/opencv.hpp>
+
+#include <nav_msgs/Path.h>
+#include <ros/ros.h>
+
+#include "pose_graph/details/pose_graph_event_observer.hpp"
+
+#include "pose_graph_ros/pose_graph_node.hpp"
+#include "pose_graph_ros/utility/CameraPoseVisualization.h"
+
+namespace pose_graph {
+class PoseGraphNode::PoseGraphEventObserverImpl
+    : public PoseGraphEventObserver {
+ public:
+  PoseGraphEventObserverImpl(ros::NodeHandle& nh, std::string config_file_path);
+  ~PoseGraphEventObserverImpl() = default;
+
+  void Publish(int sequence_count);
+  void ResetPoseGraphVisualisation();
+
+ private:
+  bool ReadParameters();
+  void StartPublishers();
+
+  // PoseGraphEventObserver callbacks
+  void OnPoseGraphLoaded() final;
+  void OnPoseGraphSaved() final;
+  void OnKeyFrameAdded(KeyFrame::Attributes kf_attribute,
+                       int sequence_count) final;
+  void OnKeyFrameLoaded(KeyFrame::Attributes kf_attribute, int count,
+                        int sequence_count) final;
+  void OnKeyFrameConnectionFound(KeyFrame::Attributes current_kf_attribute,
+                                 KeyFrame::Attributes old_kf_attribute,
+                                 std::vector<cv::Point2f> matched_2d_old_norm,
+                                 std::vector<double> matched_id,
+                                 cv::Mat& thumb_image) final;
+  void OnPoseGraphOptimization(std::vector<KeyFrame::Attributes> kf_attributes,
+                               int sequence_count) final;
+  void OnNewSequentialEdge(Vector3d p1, Vector3d p2) final;
+  void OnNewLoopEdge(Vector3d p1, Vector3d p2) final;
+
+ private:
+  ros::NodeHandle& nh_;
+  nav_msgs::Path path_[10];
+  nav_msgs::Path base_path_;
+  std::string vins_result_path_;
+  bool fast_relocalization_{false};
+  const bool save_loop_path = true;
+  int visualization_shift_x_ = 0;
+  int visualization_shift_y_ = 0;
+
+  // ros publishers
+  ros::Publisher pub_match_points_;
+  ros::Publisher pub_pg_path_;
+  ros::Publisher pub_base_path_;
+  ros::Publisher pub_pose_graph_;
+  ros::Publisher pub_path_[10];
+  ros::Publisher pub_match_img_;
+  std::unique_ptr<CameraPoseVisualization> posegraph_visualization_;
+};
+}  // namespace pose_graph
+
+#endif /* SRC_POSE_GRAPH_EVENT_OBSERVER_IMPL_HPP */
diff --git a/pose_graph_ros/src/pose_graph_node.cpp b/pose_graph_ros/src/pose_graph_node.cpp
index 1cd529df1..5a0b09bfc 100644
--- a/pose_graph_ros/src/pose_graph_node.cpp
+++ b/pose_graph_ros/src/pose_graph_node.cpp
@@ -14,13 +14,11 @@
 #include <geometry_msgs/PointStamped.h>
 #include <ros/package.h>
 
-#define SHOW_S_EDGE false
-#define SHOW_L_EDGE true
+#include "pose_graph_event_observer_impl.hpp"
 
 namespace pose_graph {
 
 PoseGraphNode::~PoseGraphNode() {
-  ros::shutdown();
   if (measurement_thread_.joinable()) {
     measurement_thread_.join();
   }
@@ -54,11 +52,6 @@ bool PoseGraphNode::Start() {
   camera_pose_vis_->setScale(camera_visual_size);
   camera_pose_vis_->setLineWidth(camera_visual_size / 10.0);
 
-  posegraph_visualization_ =
-      std::make_unique<CameraPoseVisualization>(1.0, 0.0, 1.0, 1.0);
-  posegraph_visualization_->setScale(0.1);
-  posegraph_visualization_->setLineWidth(0.01);
-
   loop_closure_ = (int)fs["loop_closure"];
 
   bool load_previous_pose_graph = false;
@@ -75,19 +68,13 @@ bool PoseGraphNode::Start() {
         config_file_path_.c_str());
     image_topic_ = std::string(fs["image_topic"]);
     config_.saved_pose_graph_dir = std::string(fs["pose_graph_save_path"]);
-    config_.save_debug_image = (int)fs["save_image"];
-
-    vins_result_path_ = std::string(fs["output_path"]);
     FileSystemHelper::createDirectoryIfNotExists(
         config_.saved_pose_graph_dir.c_str());
-    FileSystemHelper::createDirectoryIfNotExists(vins_result_path_.c_str());
-    vins_result_path_ = vins_result_path_ + "/vins_result_loop.csv";
 
+    config_.save_debug_image = (int)fs["save_image"];
+    config_.fast_relocalization = (int)fs["fast_relocalization"];
     visualise_imu_forward_ = (int)fs["visualise_imu_forward"];
     load_previous_pose_graph = (int)fs["load_previous_pose_graph"];
-    config_.fast_relocalization = (int)fs["fast_relocalization"];
-
-    std::ofstream fout(vins_result_path_, std::ios::out);
 
     if (load_previous_pose_graph) {
       ROS_INFO("Loading previous pose graph");
@@ -102,8 +89,10 @@ bool PoseGraphNode::Start() {
 
   StartPublishersAndSubscribers();
 
+  pose_graph_event_observer_ =
+      std::make_shared<PoseGraphEventObserverImpl>(nh_, config_file_path_);
   pose_graph_.Initialize(config_, camera_);
-  pose_graph_.RegisterEventObserver(PoseGraphEventObserver::shared_from_this());
+  pose_graph_.RegisterEventObserver(pose_graph_event_observer_);
 
   StartCommandAndProcessingThreads();
   return true;
@@ -115,21 +104,23 @@ bool PoseGraphNode::ReadParameters() {
     return false;
   }
 
-  nh_.getParam("visualization_shift_x", visualization_shift_x_);
-  nh_.getParam("visualization_shift_y", visualization_shift_y_);
   nh_.getParam("skip_cnt", skip_cnt_threshold_);
   nh_.getParam("skip_dis", skip_distance_);
 
   ROS_INFO(
-      "Loaded parameters: config_file: %s, visualization_shift_x: %d, "
-      "visualization_shift_y: %d, skip_cnt: %d, skip_dis: %f",
-      config_file_path_.c_str(), visualization_shift_x_, visualization_shift_y_,
-      skip_cnt_threshold_, skip_distance_);
+      "Loaded parameters for PoseGraphNode: config_file: %s, skip_cnt: %d, "
+      "skip_dis: %f",
+      config_file_path_.c_str(), skip_cnt_threshold_, skip_distance_);
 
   return true;
 }
 
 void PoseGraphNode::StartPublishersAndSubscribers() {
+  pub_camera_pose_visual_ = nh_.advertise<visualization_msgs::MarkerArray>(
+      "camera_pose_visual", 1000);
+  pub_key_odometrys_ =
+      nh_.advertise<visualization_msgs::Marker>("key_odometrys", 1000);
+  pub_vio_path_ = nh_.advertise<nav_msgs::Path>("no_loop_path", 1000);
   sub_imu_forward_ = nh_.subscribe<nav_msgs::Odometry>(
       "/vins_estimator/imu_propagate", 2000, &PoseGraphNode::ImuForwardCallback,
       this);
@@ -149,21 +140,6 @@ void PoseGraphNode::StartPublishersAndSubscribers() {
   sub_relo_relative_pose_ = nh_.subscribe<nav_msgs::Odometry>(
       "/vins_estimator/relo_relative_pose", 2000,
       &PoseGraphNode::ReloRelativePoseCallback, this);
-
-  pub_match_img_ = nh_.advertise<sensor_msgs::Image>("match_image", 2000);
-  pub_camera_pose_visual_ = nh_.advertise<visualization_msgs::MarkerArray>(
-      "camera_pose_visual", 1000);
-  pub_key_odometrys_ =
-      nh_.advertise<visualization_msgs::Marker>("key_odometrys", 1000);
-  pub_vio_path_ = nh_.advertise<nav_msgs::Path>("no_loop_path", 1000);
-  pub_match_points_ =
-      nh_.advertise<sensor_msgs::PointCloud>("match_points", 100);
-  pub_pg_path_ = nh_.advertise<nav_msgs::Path>("pose_graph_path", 1000);
-  pub_base_path_ = nh_.advertise<nav_msgs::Path>("base_path", 1000);
-  pub_pose_graph_ =
-      nh_.advertise<visualization_msgs::MarkerArray>("pose_graph", 1000);
-  for (int i = 1; i < 10; i++)
-    pub_path_[i] = nh_.advertise<nav_msgs::Path>("path_" + to_string(i), 1000);
 }
 
 void PoseGraphNode::StartCommandAndProcessingThreads() {
@@ -294,41 +270,6 @@ void PoseGraphNode::Process() {
         {
           std::lock_guard<std::mutex> lock(process_mutex_);
           pose_graph_.AddKeyFrame(keyframe);
-          {
-            int sequence_cnt = pose_graph_.GetCurrentSequenceCount();
-            auto kf_attribute = keyframe->getAttributes();
-            Eigen::Quaterniond quarternion{kf_attribute.rotation};
-            geometry_msgs::PoseStamped pose_stamped;
-            pose_stamped.header.stamp = ros::Time(keyframe->time_stamp);
-            pose_stamped.header.frame_id = "world";
-            pose_stamped.pose.position.x =
-                kf_attribute.position.x() + visualization_shift_x_;
-            pose_stamped.pose.position.y =
-                kf_attribute.position.y() + visualization_shift_y_;
-            pose_stamped.pose.position.z = kf_attribute.position.z();
-            pose_stamped.pose.orientation.x = quarternion.x();
-            pose_stamped.pose.orientation.y = quarternion.y();
-            pose_stamped.pose.orientation.z = quarternion.z();
-            pose_stamped.pose.orientation.w = quarternion.w();
-            path_[sequence_cnt].poses.push_back(pose_stamped);
-            path_[sequence_cnt].header = pose_stamped.header;
-
-            if (save_loop_path) {
-              std::ofstream loop_path_file(vins_result_path_, ios::app);
-              loop_path_file.setf(ios::fixed, ios::floatfield);
-              loop_path_file.precision(0);
-              loop_path_file << kf_attribute.time_stamp * 1e9 << ",";
-              loop_path_file.precision(5);
-              loop_path_file << kf_attribute.position.x() << ","
-                             << kf_attribute.position.y() << ","
-                             << kf_attribute.position.z() << ","
-                             << quarternion.w() << "," << quarternion.x() << ","
-                             << quarternion.y() << "," << quarternion.z() << ","
-                             << endl;
-              loop_path_file.close();
-            }
-          }
-          Publish();
         }
         frame_index_++;
         last_t_ = T;
@@ -342,6 +283,8 @@ void PoseGraphNode::Process() {
 void PoseGraphNode::Command() {
   if (!loop_closure_) return;
   while (ros::ok()) {
+    // Note: Since getchar() is a blocking call, a SIGINT signal will not be
+    // able to interrupt this thread. This is a known issue.
     char c = getchar();
     if (c == 's') {
       {
@@ -363,18 +306,6 @@ void PoseGraphNode::Command() {
   }
 }
 
-void PoseGraphNode::Publish() {
-  int sequence_cnt = pose_graph_.GetCurrentSequenceCount();
-  for (int i = 1; i <= sequence_cnt; i++) {
-    pub_pg_path_.publish(path_[i]);
-    pub_path_[i].publish(path_[i]);
-    posegraph_visualization_->publish_by(pub_pose_graph_,
-                                         path_[sequence_cnt].header);
-  }
-  base_path_.header.frame_id = "world";
-  pub_base_path_.publish(base_path_);
-}
-
 void PoseGraphNode::NewSequence() {
   ROS_INFO("new sequence");
   sequence_index_++;
@@ -385,8 +316,8 @@ void PoseGraphNode::NewSequence() {
         "sequences.");
     ROS_BREAK();
   }
-  posegraph_visualization_->reset();
-  Publish();
+  pose_graph_event_observer_->ResetPoseGraphVisualisation();
+  pose_graph_event_observer_->Publish(pose_graph_.GetCurrentSequenceCount());
   {
     std::lock_guard<std::mutex> lock(buffer_mutex_);
     while (!image_buffer_.empty()) image_buffer_.pop();
@@ -396,180 +327,6 @@ void PoseGraphNode::NewSequence() {
   }
 }
 
-void PoseGraphNode::OnPoseGraphLoaded() { ROS_DEBUG("Pose graph loaded"); }
-
-void PoseGraphNode::OnPoseGraphSaved() { ROS_DEBUG("Pose graph saved"); }
-
-void PoseGraphNode::OnKeyFrameAdded(KeyFrame::Attributes kf_attribute) {
-  ROS_DEBUG("On Keyframe added");
-}
-
-void PoseGraphNode::OnKeyFrameLoaded(KeyFrame::Attributes kf_attribute,
-                                     int count) {
-  ROS_INFO("On Keyframe loaded");
-  Eigen::Quaterniond Q{kf_attribute.rotation};
-  geometry_msgs::PoseStamped pose_stamped;
-  pose_stamped.header.stamp = ros::Time(kf_attribute.time_stamp);
-  pose_stamped.header.frame_id = "world";
-  pose_stamped.pose.position.x =
-      kf_attribute.position.x() + visualization_shift_x_;
-  pose_stamped.pose.position.y =
-      kf_attribute.position.y() + visualization_shift_y_;
-  pose_stamped.pose.position.z = kf_attribute.position.z();
-  pose_stamped.pose.orientation.x = Q.x();
-  pose_stamped.pose.orientation.y = Q.y();
-  pose_stamped.pose.orientation.z = Q.z();
-  pose_stamped.pose.orientation.w = Q.w();
-  base_path_.poses.push_back(pose_stamped);
-  base_path_.header = pose_stamped.header;
-
-  if (count % 20 == 0) {
-    Publish();
-  }
-}
-
-void PoseGraphNode::OnKeyFrameConnectionFound(
-    KeyFrame::Attributes current_kf_attribute,
-    KeyFrame::Attributes old_kf_attribute,
-    std::vector<cv::Point2f> matched_2d_old_norm,
-    std::vector<double> matched_id, cv::Mat& thumb_image) {
-  ROS_DEBUG("On Keyframe connection found");
-  {
-    sensor_msgs::ImagePtr msg =
-        cv_bridge::CvImage(std_msgs::Header(), "bgr8", thumb_image)
-            .toImageMsg();
-    msg->header.stamp = ros::Time(current_kf_attribute.time_stamp);
-    pub_match_img_.publish(msg);
-  }
-  if (config_.fast_relocalization) {
-    sensor_msgs::PointCloud msg_match_points;
-    msg_match_points.header.stamp = ros::Time(current_kf_attribute.time_stamp);
-    for (int i = 0; i < (int)matched_2d_old_norm.size(); i++) {
-      geometry_msgs::Point32 p;
-      p.x = matched_2d_old_norm[i].x;
-      p.y = matched_2d_old_norm[i].y;
-      p.z = matched_id[i];
-      msg_match_points.points.push_back(p);
-    }
-    Eigen::Vector3d T = old_kf_attribute.position;
-    Eigen::Matrix3d R = old_kf_attribute.rotation;
-    Quaterniond Q(R);
-    sensor_msgs::ChannelFloat32 t_q_index;
-    t_q_index.values.push_back(T.x());
-    t_q_index.values.push_back(T.y());
-    t_q_index.values.push_back(T.z());
-    t_q_index.values.push_back(Q.w());
-    t_q_index.values.push_back(Q.x());
-    t_q_index.values.push_back(Q.y());
-    t_q_index.values.push_back(Q.z());
-    t_q_index.values.push_back(current_kf_attribute.index);
-    msg_match_points.channels.push_back(t_q_index);
-    pub_match_points_.publish(msg_match_points);
-  }
-}
-
-void PoseGraphNode::OnPoseGraphOptimization(
-    std::vector<KeyFrame::Attributes> kf_attributes) {
-  // ROS_INFO("On Pose graph optimization");
-  std::vector<KeyFrame::Attributes>::iterator it;
-  int sequence_cnt = pose_graph_.GetCurrentSequenceCount();
-  for (int i = 1; i <= sequence_cnt; i++) {
-    path_[i].poses.clear();
-  }
-  base_path_.poses.clear();
-  posegraph_visualization_->reset();
-
-  if (save_loop_path) {
-    std::ofstream loop_path_file_tmp(vins_result_path_, ios::out);
-    loop_path_file_tmp.close();
-  }
-
-  for (it = kf_attributes.begin(); it != kf_attributes.end(); it++) {
-    Eigen::Quaterniond Q;
-    Q = it->rotation;
-    //        printf("path p: %f, %f, %f\n",  P.x(),  P.z(),  P.y() );
-
-    geometry_msgs::PoseStamped pose_stamped;
-    pose_stamped.header.stamp = ros::Time(it->time_stamp);
-    pose_stamped.header.frame_id = "world";
-    pose_stamped.pose.position.x = it->position.x() + visualization_shift_x_;
-    pose_stamped.pose.position.y = it->position.y() + visualization_shift_y_;
-    pose_stamped.pose.position.z = it->position.z();
-    pose_stamped.pose.orientation.x = Q.x();
-    pose_stamped.pose.orientation.y = Q.y();
-    pose_stamped.pose.orientation.z = Q.z();
-    pose_stamped.pose.orientation.w = Q.w();
-    if (it->sequence == 0) {
-      base_path_.poses.push_back(pose_stamped);
-      base_path_.header = pose_stamped.header;
-    } else {
-      path_[it->sequence].poses.push_back(pose_stamped);
-      path_[it->sequence].header = pose_stamped.header;
-    }
-
-    if (save_loop_path && !vins_result_path_.empty()) {
-      std::ofstream loop_path_file(vins_result_path_, ios::app);
-      loop_path_file.setf(ios::fixed, ios::floatfield);
-      loop_path_file.precision(0);
-      loop_path_file << it->time_stamp * 1e9 << ",";
-      loop_path_file.precision(5);
-      loop_path_file << it->position.x() << "," << it->position.y() << ","
-                     << it->position.z() << "," << Q.w() << "," << Q.x() << ","
-                     << Q.y() << "," << Q.z() << "," << endl;
-      loop_path_file.close();
-    }
-
-    if (SHOW_S_EDGE) {
-      std::vector<KeyFrame::Attributes>::reverse_iterator rit =
-          kf_attributes.rbegin();
-      std::vector<KeyFrame::Attributes>::reverse_iterator lrit;
-      for (; rit != kf_attributes.rend(); rit++) {
-        if (rit->index == it->index) {
-          lrit = rit;
-          lrit++;
-          for (int i = 0; i < 4; i++) {
-            if (lrit == kf_attributes.rend()) break;
-            if (lrit->sequence == it->sequence) {
-              posegraph_visualization_->add_edge(it->position, lrit->position);
-            }
-            lrit++;
-          }
-          break;
-        }
-      }
-    }
-    if (SHOW_L_EDGE) {
-      if (it->has_loop && it->sequence == sequence_cnt) {
-        std::find_if(
-            kf_attributes.begin(), kf_attributes.end(),
-            [&](KeyFrame::Attributes& attr) {
-              if (attr.index == it->loop_index && it->sequence > 0) {
-                posegraph_visualization_->add_loopedge(
-                    it->position,
-                    attr.position + Vector3d(visualization_shift_x_,
-                                             visualization_shift_y_, 0));
-                return true;
-              }
-              return false;
-            });
-      }
-    }
-  }
-
-  Publish();
-}
-
-void PoseGraphNode::OnNewSequentialEdge(Vector3d p1, Vector3d p2) {
-  if (!SHOW_S_EDGE) return;
-  posegraph_visualization_->add_edge(p1, p2);
-}
-
-void PoseGraphNode::OnNewLoopEdge(Vector3d p1, Vector3d p2) {
-  if (!SHOW_L_EDGE) return;
-  p2 += Vector3d(visualization_shift_x_, visualization_shift_y_, 0);
-  posegraph_visualization_->add_loopedge(p1, p2);
-}
-
 void PoseGraphNode::ImuForwardCallback(
     const nav_msgs::OdometryConstPtr& forward_msg) {
   if (!visualise_imu_forward_) return;
@@ -777,9 +534,8 @@ void PoseGraphNode::ReloRelativePoseCallback(
 
 int main(int argc, char** argv) {
   ros::init(argc, argv, "pose_graph_node");
-  std::shared_ptr<pose_graph::PoseGraphNode> pose_graph_node =
-      std::make_shared<pose_graph::PoseGraphNode>();
-  if (!pose_graph_node->Start()) {
+  pose_graph::PoseGraphNode pose_graph_node;
+  if (!pose_graph_node.Start()) {
     ROS_ERROR("Failed to start PoseGraphNode");
     ros::shutdown();
   }

From 33929122a85ac5abf28c7b85936ad55be715281d Mon Sep 17 00:00:00 2001
From: Kee Jin <yoplocheo@gmail.com>
Date: Sun, 9 Mar 2025 22:20:58 +0800
Subject: [PATCH 5/5] [#37] pose_graph_ros: docs: added class design diagram
 for PoseGraphNode

---
 pose_graph_ros/docs/pose_graph_node_design.png | Bin 0 -> 48203 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)
 create mode 100644 pose_graph_ros/docs/pose_graph_node_design.png

diff --git a/pose_graph_ros/docs/pose_graph_node_design.png b/pose_graph_ros/docs/pose_graph_node_design.png
new file mode 100644
index 0000000000000000000000000000000000000000..05a086e1ff8ff3d4b69fedcb83f73cd7043e9e13
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