Runs a Rtabmap instance in its own thread, driven by events. More...

#include <RtabmapThread.h>

Inheritance diagram for rtabmap::RtabmapThread:

[legend]

Collaboration diagram for rtabmap::RtabmapThread:

[legend]

Public Types
enum	State { kStateDetecting , kStateProcessCommand }
	What the main loop does on its next wake-up. More...

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) ()

Public Member Functions
	RtabmapThread (Rtabmap *rtabmap)
	Constructor.

void	clearBufferedData ()
	Drops the buffered frames, the pending user data and the odometry state.

void	setDetectorRate (float rate)
	Sets the maximum rate at which frames are processed (Hz, 0 = unlimited).

void	setDataBufferSize (unsigned int bufferSize)
	Sets how many frames may wait in the buffer (0 = unlimited).

void	createIntermediateNodes (bool enabled)
	Keeps the frames skipped by setDetectorRate() as intermediate nodes.

float	getDetectorRate () const

unsigned int	getDataBufferSize () const

bool	getCreateIntermediateNodes () const

void	close (bool databaseSaved, const std::string &databasePath="")
	Joins the thread and closes rtabmap. This will delete rtabmap object if set.

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 *anEvent)
	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
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 a Rtabmap instance in its own thread, driven by events.

The thread owns the Rtabmap object and calls Rtabmap::process() on the data it receives, so that mapping never blocks the sensor or odometry threads. It is the last stage of the event-based pipeline: SensorCaptureThread → OdometryThread → RtabmapThread.

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

OdometryEvent and SensorEvent – the frame and its odometry pose are buffered for the main loop. A null pose means odometry is lost and the frame is dropped (unless the memory is in localization mode).
UserDataEvent – user data attached to the next processed frame.
RtabmapEventCmd – a command (see RtabmapEventCmd::Cmd), such as initializing or closing the map, triggering a new map, pausing, setting a goal, labelling a node or requesting the map.
ParamEvent – applies new parameters, equivalent to a RtabmapEventCmd::kCmdUpdateParams command.

Output events, posted from the thread:

RtabmapEvent with the Statistics of an iteration that added a node.
RtabmapEvent3DMap in answer to a map request.
RtabmapGlobalPathEvent and RtabmapGoalStatusEvent for path planning.
RtabmapLabelErrorEvent when a label could not be set.

Input regulation, on top of what Rtabmap does:

Frames are queued in a buffer of Parameters::kRtabmapImageBufferSize() elements; when it is full the oldest frame is dropped, so a slow map update never delays the live pipeline.
Frames arriving faster than Parameters::kRtabmapDetectionRate() are skipped, which is the rate limiting that Rtabmap::process() itself does not do. With Parameters::kRtabmapCreateIntermediateNodes() enabled they are kept instead, and added as intermediate nodes (odometry-only, not used for loop closure detection).
An identity odometry pose, or a covariance ≥ 9999, is read as an odometry reset and triggers a new map id on the next processed frame. The largest covariance seen between two processed frames is the one passed on, so the link weight does not depend on the odometry frame rate.

The object registers itself as a UEventsHandler, so posting an event to UEventsManager is enough to feed it:

rtabmap::RtabmapThread rtabmapThread(new rtabmap::Rtabmap()); // takes ownership
rtabmapThread.start();
UEventsManager::addHandler(&rtabmapThread);
UEventsManager::createPipe(&odomThread, &rtabmapThread, "OdometryEvent");

See also: Rtabmap; OdometryThread; SensorCaptureThread

Definition at line 104 of file RtabmapThread.h.

Member Enumeration Documentation

◆ State

enum rtabmap::RtabmapThread::State

What the main loop does on its next wake-up.

Enumerator
kStateDetecting	Process the next buffered frame.
kStateProcessCommand	Execute the next queued RtabmapEventCmd.

Definition at line 110 of file RtabmapThread.h.

Constructor & Destructor Documentation

◆ RtabmapThread()

rtabmap::RtabmapThread::RtabmapThread ( Rtabmap * rtabmap )

Constructor.

Parameters

rtabmap The map to run; must not be null. The thread takes ownership and deletes it in close(), which the destructor calls.

The buffer size, detection rate and intermediate node settings are taken from the default parameters here, then updated by every RtabmapEventCmd::kCmdInit and RtabmapEventCmd::kCmdUpdateParams command.

Member Function Documentation

◆ setDetectorRate()

void rtabmap::RtabmapThread::setDetectorRate ( float rate )

Sets the maximum rate at which frames are processed (Hz, 0 = unlimited).

Same setting as Parameters::kRtabmapDetectionRate(). Frames arriving faster are dropped, or added as intermediate nodes if createIntermediateNodes() is enabled.

◆ setDataBufferSize()

void rtabmap::RtabmapThread::setDataBufferSize ( unsigned int bufferSize )

Sets how many frames may wait in the buffer (0 = unlimited).

Same setting as Parameters::kRtabmapImageBufferSize(). Once full, the oldest frame is dropped to make room for the new one.

◆ createIntermediateNodes()

void rtabmap::RtabmapThread::createIntermediateNodes ( bool enabled )

Keeps the frames skipped by setDetectorRate() as intermediate nodes.

Same setting as Parameters::kRtabmapCreateIntermediateNodes(). Those nodes carry the odometry link but take no part in loop closure detection.

◆ getDetectorRate()

float rtabmap::RtabmapThread::getDetectorRate ( ) const

inline

Returns: Maximum processing rate in Hz (0 = unlimited).

Definition at line 155 of file RtabmapThread.h.

◆ getDataBufferSize()

unsigned int rtabmap::RtabmapThread::getDataBufferSize ( ) const

inline

Returns: Maximum number of buffered frames (0 = unlimited).

Definition at line 157 of file RtabmapThread.h.

◆ getCreateIntermediateNodes()

bool rtabmap::RtabmapThread::getCreateIntermediateNodes ( ) const

inline

Returns: True if skipped frames are added as intermediate nodes.

Definition at line 159 of file RtabmapThread.h.

◆ close()

void rtabmap::RtabmapThread::close	(	bool	databaseSaved,
		const std::string &	databasePath = `""`
	)

Joins the thread and closes rtabmap. This will delete rtabmap object if set.

Parameters

databaseSaved	true=database saved, false=database discarded.
databasePath	output database file name, ignored if Db/Sqlite3InMemory=false (opened database is then overwritten).

Called by the destructor with databaseSaved true. The object cannot be used afterwards: the Rtabmap instance it owned is gone.

◆ handleEvent()

virtual bool rtabmap::RtabmapThread::handleEvent ( UEvent * anEvent )

protectedvirtual

Receives the events listed in the class description.

Runs in the posting thread: data events are only queued here, the work happens in the thread's main loop. Events are ignored until the thread is started.

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/RtabmapThread.h

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ State

Constructor & Destructor Documentation

◆ RtabmapThread()

Member Function Documentation

◆ setDetectorRate()

◆ setDataBufferSize()

◆ createIntermediateNodes()

◆ getDetectorRate()

◆ getDataBufferSize()

◆ getCreateIntermediateNodes()

◆ close()

◆ handleEvent()