rtabmap::IMUThread Class Reference

Background thread that replays IMU measurements from a CSV file. More...

#include <IMUThread.h>

Inheritance diagram for rtabmap::IMUThread:

Collaboration diagram for rtabmap::IMUThread:

Public Member Functions
	IMUThread (int rate, const Transform &localTransform)
	Constructs the replay thread.
bool	init (const std::string &path)
	Opens and validates an IMU CSV file.
void	setRate (int rate)
	Sets the target playback rate in Hz.
void	enableIMUFiltering (int filteringStrategy=1, const ParametersMap &parameters=ParametersMap(), bool baseFrameConversion=false)
	Enables orientation fusion on replayed samples.
void	disableIMUFiltering ()
	Disables fusion and deletes the internal IMUFilter.
Public Member Functions inherited from UThread
	UThread (Priority priority=kPNormal)
virtual	~UThread ()
void	start ()
void	kill ()
void	join (bool killFirst=false)
void	setPriority (Priority priority)
void	setAffinity (int cpu=0)
bool	isCreating () const
bool	isRunning () const
bool	isIdle () const
bool	isKilled () const
Handle	getThreadHandle () const
unsigned long	getThreadId () const
Public Member Functions inherited from UThreadC< void >
int	Create (Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
int	Create (unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
int	Create (Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
int	Create (unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const

Additional Inherited Members
Public Types inherited from UThread
enum	Priority {   kPLow , kPBelowNormal , kPNormal , kPAboveNormal ,   kPRealTime }
Public Types inherited from UThreadC< void >
typedef THREAD_HANDLE	Handle
typedef void(*	Handler) ()
typedef THREAD_HANDLE	Handle
typedef void(*	Handler) ()
Static Public Member Functions inherited from UThread
static unsigned long	currentThreadId ()
Static Public Member Functions inherited from UThreadC< void >
static int	Create (const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false)
static int	Join (Handle H)
static int	Kill (Handle H)
static int	Detach (Handle H)
static int	Create (const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false)
static int	Join (const Handle &H)
static int	Kill (const Handle &H)
static int	Detach (const Handle &H)
Protected Member Functions inherited from UEventsSender
void	post (UEvent *event, bool async=true) const
Static Protected Member Functions inherited from UThreadC< void >
static void	Exit ()
static void	TestCancel ()
static Handle	Self ()
static void	Exit ()
static void	TestCancel ()
static int	Self ()

Detailed Description

Background thread that replays IMU measurements from a CSV file.

Reads gyroscope and accelerometer samples from a comma-separated file (EuRoC-style or epoch timestamps), optionally fuses them with IMUFilter, and posts IMUEvent on each step.

CSV format:

• First line: header (skipped).
• Following lines: stamp,gx,gy,gz,ax,ay,az (stamp in seconds with a decimal point, or EuRoC nanoseconds without one).

Playback rate is limited by setRate() when rate > 0; otherwise samples are read as fast as possible (or spaced using inter-sample timestamps after the first pair). When the file ends, the thread posts an empty IMUEvent and stops.

See also

IMUEvent

IMUFilter

SensorCaptureThread::enableIMUFiltering()

Definition at line 65 of file IMUThread.h.

Constructor & Destructor Documentation

IMUThread()

rtabmap::IMUThread::IMUThread	(	int	rate,
		const Transform &	localTransform
	)

Constructs the replay thread.

Parameters

rate	Target playback rate in Hz (0 = no rate cap until timestamps apply).
localTransform	IMU frame relative to the robot base (stored in each IMU).

Member Function Documentation

init()

bool rtabmap::IMUThread::init

(

const std::string &

path

)

Opens and validates an IMU CSV file.

Parameters

path	Path to the CSV file.

Returns

False if the file is missing or contains no data rows.

enableIMUFiltering()

void rtabmap::IMUThread::enableIMUFiltering	(	int	filteringStrategy = 1,
		const ParametersMap &	parameters = ParametersMap(),
		bool	baseFrameConversion = false
	)

Enables orientation fusion on replayed samples.

Parameters

filteringStrategy	IMUFilter::Type index (0 = Madgwick, 1 = complementary).
parameters	Optional ImuFilter/... tuning parameters.
baseFrameConversion	If true, rotate IMU vectors into the base frame before filtering.

---

The documentation for this class was generated from the following file:

• corelib/include/rtabmap/core/IMUThread.h