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<li class="navelem"><a class="el" href="namespacertabmap.html">rtabmap</a></li><li class="navelem"><a class="el" href="classrtabmap_1_1OdometryThread.html">OdometryThread</a></li> </ul>
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@@ -84,12 +101,17 @@ $(function() {
<div class="headertitle"><div class="title">rtabmap::OdometryThread Class Reference</div></div>
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<div class="contents">
<p>Runs an <a class="el" href="classrtabmap_1_1Odometry.html">Odometry</a> front-end in its own thread, driven by events.
<a href="classrtabmap_1_1OdometryThread.html#details">More...</a></p>
<p><code>#include &lt;<a class="el" href="OdometryThread_8h_source.html">OdometryThread.h</a>&gt;</code></p>
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Inheritance diagram for rtabmap::OdometryThread:</div>
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Collaboration diagram for rtabmap::OdometryThread:</div>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
Public Member Functions</h2></td></tr>
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&#160;</td><td class="memItemRight" valign="bottom"><b>OdometryThread</b> (<a class="el" href="classrtabmap_1_1Odometry.html">Odometry</a> *odometry, unsigned int dataBufferMaxSize=1)</td></tr>
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<tr class="memdesc:a66435ffb547d7d59faa9224fe030934b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor. <br /></td></tr>
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<tr class="inherit_header pub_methods_classUThread"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classUThread')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classUThread.html">UThread</a></td></tr>
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<tr class="memdesc:a65808dd7148c1e2c49dcf90ef718b5a8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Receives the events listed in the class description. <br /></td></tr>
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<tr class="inherit_header pro_methods_classUEventsHandler"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classUEventsHandler')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classUEventsHandler.html">UEventsHandler</a></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock">
<p class="definition">Definition at line <a class="el" href="OdometryThread_8h_source.html#l00042">42</a> of file <a class="el" href="OdometryThread_8h_source.html">OdometryThread.h</a>.</p>
</div><h2 class="groupheader">Member Function Documentation</h2>
<div class="textblock"><p>Runs an <a class="el" href="classrtabmap_1_1Odometry.html">Odometry</a> front-end in its own thread, driven by events. </p>
<p>The thread owns the <a class="el" href="classrtabmap_1_1Odometry.html">Odometry</a> object and calls <a class="el" href="classrtabmap_1_1Odometry.html#a0c2d39ed9b76c2c411a9e62e16e3bce1">Odometry::process()</a> 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: <a class="el" href="classrtabmap_1_1SensorCaptureThread.html">SensorCaptureThread</a> &rarr; <a class="el" href="classrtabmap_1_1OdometryThread.html" title="Runs an Odometry front-end in its own thread, driven by events.">OdometryThread</a> &rarr; <a class="el" href="classrtabmap_1_1RtabmapThread.html">RtabmapThread</a>.</p>
<p><b>Input events</b> (handled in <a class="el" href="classrtabmap_1_1OdometryThread.html#a65808dd7148c1e2c49dcf90ef718b5a8">handleEvent()</a>, i.e. in the caller's thread):</p><ul>
<li><a class="el" href="classrtabmap_1_1SensorEvent.html">SensorEvent</a> &mdash; a frame to process. It is rejected with an error if it carries neither a laser scan nor an image with its calibration (an <a class="el" href="classrtabmap_1_1OdometryMono.html">OdometryMono</a> front-end accepts RGB alone).</li>
<li><a class="el" href="classrtabmap_1_1IMUEvent.html">IMUEvent</a> &mdash; an <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> sample, kept in a separate buffer.</li>
<li><a class="el" href="classrtabmap_1_1OdometryResetEvent.html">OdometryResetEvent</a> &mdash; 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.</li>
</ul>
<p><b>Output event</b>: one <a class="el" href="classrtabmap_1_1OdometryEvent.html">OdometryEvent</a> per processed frame, carrying the data, the integrated pose and the <a class="el" href="classrtabmap_1_1OdometryInfo.html">OdometryInfo</a>. A null pose means odometry is lost; that is what <a class="el" href="classrtabmap_1_1RtabmapThread.html">RtabmapThread</a> reads to start a new map.</p>
<p><b>Buffering.</b> The frame buffer holds <code>dataBufferMaxSize</code> 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. <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> 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 <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> window is skipped with a warning: with an asynchronous <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a>, it must be published faster (less delay) than the camera or lidar.</p>
<p>When the incoming <a class="el" href="classrtabmap_1_1SensorEvent.html">SensorEvent</a> already carries an odometry pose (a robot publishing its own odometry), the motion between two consecutive such poses is passed to <a class="el" href="classrtabmap_1_1Odometry.html#a0c2d39ed9b76c2c411a9e62e16e3bce1">Odometry::process()</a> as a guess.</p>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classrtabmap_1_1Odometry.html" title="Abstract base class for visual, lidar and visual-inertial odometry backends.">Odometry</a> </dd>
<dd>
<a class="el" href="classrtabmap_1_1RtabmapThread.html" title="Runs a Rtabmap instance in its own thread, driven by events.">RtabmapThread</a> </dd>
<dd>
<a class="el" href="classrtabmap_1_1SensorCaptureThread.html" title="Thread-based sensor data capture and event posting for RTAB-Map.">SensorCaptureThread</a> </dd></dl>
<p class="definition">Definition at line <a class="el" href="OdometryThread_8h_source.html#l00080">80</a> of file <a class="el" href="OdometryThread_8h_source.html">OdometryThread.h</a>.</p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a id="a66435ffb547d7d59faa9224fe030934b" name="a66435ffb547d7d59faa9224fe030934b"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a66435ffb547d7d59faa9224fe030934b">&#9670;&#160;</a></span>OdometryThread()</h2>
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<td class="memname">rtabmap::OdometryThread::OdometryThread </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classrtabmap_1_1Odometry.html">Odometry</a> *&#160;</td>
<td class="paramname"><em>odometry</em>, </td>
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<td class="paramkey"></td>
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<td class="paramtype">unsigned int&#160;</td>
<td class="paramname"><em>dataBufferMaxSize</em> = <code>1</code>&#160;</td>
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<p>Constructor. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">odometry</td><td>The odometry to run; must not be null. The thread takes ownership and deletes it in the destructor. </td></tr>
<tr><td class="paramname">dataBufferMaxSize</td><td>Maximum number of frames waiting to be processed (0 = unlimited). Beyond that the oldest frame is dropped, keeping the odometry on recent data. </td></tr>
</table>
</dd>
</dl>
</div>
</div>
<h2 class="groupheader">Member Function Documentation</h2>
<a id="a65808dd7148c1e2c49dcf90ef718b5a8" name="a65808dd7148c1e2c49dcf90ef718b5a8"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a65808dd7148c1e2c49dcf90ef718b5a8">&#9670;&#160;</a></span>handleEvent()</h2>
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<p>Method called by the <a class="el" href="classUEventsManager.html">UEventsManager</a> to handle an event. Important : this method must do a minimum of work because the faster the dispatching loop is done; the faster the events are received. If a handling function takes too much time, the events list can grow faster than it is emptied. The event can be modified. </p><dl class="section return"><dt>Returns</dt><dd>"true" to notify <a class="el" href="classUEventsManager.html">UEventsManager</a> that this handler took ownership of the event (meaning it must delete it). The event will not be dispatched to next handlers. </dd>
<dd>
"false" to let event be dispatched to next handlers (default behavior). <a class="el" href="classUEventsManager.html">UEventsManager</a> will take care of deleting the event. </dd></dl>
<p>Receives the events listed in the class description. </p>
<p>Runs in the posting thread: frames and <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> 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 <a class="el" href="classrtabmap_1_1OdometryResetEvent.html">OdometryResetEvent</a> is not.</p>
<dl class="section return"><dt>Returns</dt><dd>Always false, so the event keeps being dispatched to other handlers. </dd></dl>
<p>Implements <a class="el" href="classUEventsHandler.html#a0d43b582c19f01196a513f66d3618d8d">UEventsHandler</a>.</p>
@@ -274,9 +351,13 @@ Additional Inherited Members</h2></td></tr>
<li>corelib/include/rtabmap/core/<a class="el" href="OdometryThread_8h_source.html">OdometryThread.h</a></li>
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