OdometryCuVSLAM.h

/*
Copyright (c) 2025 Felix Toft
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
 
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modification, are permitted provided that the following conditions are met:
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      notice, this list of conditions and the following disclaimer.
    * Redistributions in binary form must reproduce the above copyright
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    * Neither the name of the Universite de Sherbrooke nor the
      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.
 
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*/
 
#ifndef ODOMETRYCUVSLAM_H_
#define ODOMETRYCUVSLAM_H_
 
#include <rtabmap/core/Odometry.h>
#include <memory>
#include <deque>
#include <array>
 
#ifdef RTABMAP_CUVSLAM
#include <cuvslam.h>
#include <ground_constraint.h>
#include <cuda_runtime.h>
#endif
 
namespace rtabmap {
 
class RTABMAP_CORE_EXPORT OdometryCuVSLAM : public Odometry
{
public:
  OdometryCuVSLAM(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
  virtual ~OdometryCuVSLAM();
 
  virtual void reset(const Transform & initialPose = Transform::getIdentity());
  virtual Odometry::Type getType() {return Odometry::kTypeCuVSLAM;}
 
private:
  virtual Transform computeTransform(SensorData & image, const Transform & guess = Transform(), OdometryInfo * info = 0);
  virtual void cleanupCuVSLAMResources();
 
private:
#ifdef RTABMAP_CUVSLAM
  CUVSLAM_TrackerHandle cuvslam_handle_;
  CUVSLAM_GroundConstraintHandle ground_constraint_handle_;
 
  std::vector<CUVSLAM_Camera> cuvslam_cameras_;
  std::vector<std::array<float, 12>> intrinsics_;
  
  // State tracking
  bool initialized_;
  bool lost_;
  bool tracking_;
  bool planar_constraints_;
  int multicam_mode_;
  Transform previous_pose_;
  double last_timestamp_;
 
  // Configuration Thresholds
  double velocity_ratio_threshold_high_ = 1.5;      // The maximum velocity ratio of guess / estimated velocity needed to detect lost state.
  double velocity_ratio_threshold_low_ = 0.5;       // The minimum velocity ratio of guess / estimated velocity needed to detect lost state.
  double velocity_difference_threshold_ = 0.1;      // The maximum velocity difference between the guess and the estimated velocity needed to detect lost state.
  double zero_estimated_velocity_threshold_ = 0.00001;  // The minimum cuVSLAM estimated velocity needed to detect lost state.
  double min_landmarks_threshold_ = 30;           // The minimum number of landmarks needed to start tracking after an initialization.
  
  // Forward cuVLSAM covariance directly to RTAB-Map.
  // When true this disables covariance based lost detection.
  bool use_raw_covariance_  = false;
 
  //visualization
  std::vector<CUVSLAM_Observation> observations_;
  std::vector<CUVSLAM_Landmark> landmarks_;
  
  // GPU memory management
  std::vector<uint8_t *> gpu_left_image_data_; // pointers to all gpu images
  std::vector<uint8_t *> gpu_right_image_data_;
  std::vector<size_t> gpu_left_image_sizes_; // size of one image
  std::vector<size_t> gpu_right_image_sizes_;
  cudaStream_t cuda_stream_;
#endif
};
 
}
 
#endif /* ODOMETRYCUVSLAM_H_ */