Runs an Odometry front-end in its own thread, driven by events. More...

#include <OdometryThread.h>

Inheritance diagram for rtabmap::OdometryThread:

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Collaboration diagram for rtabmap::OdometryThread:

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Public Member Functions
	OdometryThread (Odometry *odometry, unsigned int dataBufferMaxSize=1)
	Constructor.

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

Public Member Functions inherited from UEventsHandler
void	registerToEventsManager ()

void	unregisterFromEventsManager ()

Protected Member Functions
virtual bool	handleEvent (UEvent *event)
	Receives the events listed in the class description.

Protected Member Functions inherited from UEventsHandler
	UEventsHandler ()

virtual	~UEventsHandler ()

Protected Member Functions inherited from UEventsSender
void	post (UEvent *event, bool async=true) 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)

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

Runs an Odometry front-end in its own thread, driven by events.

The thread owns the Odometry object and calls Odometry::process() on the frames it receives, so that a slow odometry update does not block the sensor thread. It sits in the middle of the event-based pipeline: SensorCaptureThread → OdometryThread → RtabmapThread.

Input events (handled in handleEvent(), i.e. in the caller's thread):

SensorEvent — a frame to process. It is rejected with an error if it carries neither a laser scan nor an image with its calibration (an OdometryMono front-end accepts RGB alone).
IMUEvent — an IMU sample, kept in a separate buffer.
OdometryResetEvent — resets the odometry to the pose it carries (identity if null) and drops everything buffered. Unlike the others, it is handled even before the thread is started.

Output event: one OdometryEvent per processed frame, carrying the data, the integrated pose and the OdometryInfo. A null pose means odometry is lost; that is what RtabmapThread reads to start a new map.

Buffering. The frame buffer holds dataBufferMaxSize frames and drops the oldest when full, so with the default size of 1 the odometry always works on the freshest frame rather than falling behind. IMU samples are buffered apart and fed to the odometry up to the stamp of the frame about to be processed, so that tightly-coupled back-ends see them in order. A frame whose stamp falls outside the buffered IMU window is skipped with a warning: with an asynchronous IMU, it must be published faster (less delay) than the camera or lidar.

When the incoming SensorEvent already carries an odometry pose (a robot publishing its own odometry), the motion between two consecutive such poses is passed to Odometry::process() as a guess.

See also: Odometry; RtabmapThread; SensorCaptureThread

Definition at line 80 of file OdometryThread.h.

Constructor & Destructor Documentation

◆ OdometryThread()

rtabmap::OdometryThread::OdometryThread	(	Odometry *	odometry,
		unsigned int	dataBufferMaxSize = `1`
	)

Constructor.

Parameters

odometry	The odometry to run; must not be null. The thread takes ownership and deletes it in the destructor.
dataBufferMaxSize	Maximum number of frames waiting to be processed (0 = unlimited). Beyond that the oldest frame is dropped, keeping the odometry on recent data.

Member Function Documentation

◆ handleEvent()

virtual bool rtabmap::OdometryThread::handleEvent ( UEvent * event )

protectedvirtual

Receives the events listed in the class description.

Runs in the posting thread: frames and IMU samples are only buffered here, the odometry itself runs in the thread's main loop. Data events are ignored until the thread is started, an OdometryResetEvent is not.

Returns: Always false, so the event keeps being dispatched to other handlers.

Implements UEventsHandler.

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

corelib/include/rtabmap/core/OdometryThread.h

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ OdometryThread()

Member Function Documentation

◆ handleEvent()