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<div id="projectname">RTAB-Map<span id="projectnumber"> 0.23.10</span>
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<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span><span class="comment">/*</span></div>
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<div class="line"><a id="l00002" name="l00002"></a><span class="lineno"> 2</span><span class="comment">Copyright (c) 2025 Felix Toft</span></div>
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<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"> 3</span><span class="comment">Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke</span></div>
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<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="comment">All rights reserved.</span></div>
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<div class="line"><a id="l00005" name="l00005"></a><span class="lineno"> 5</span><span class="comment"></span> </div>
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<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span><span class="comment">Redistribution and use in source and binary forms, with or without</span></div>
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<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"> 7</span><span class="comment">modification, are permitted provided that the following conditions are met:</span></div>
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<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"> 8</span><span class="comment"> * Redistributions of source code must retain the above copyright</span></div>
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<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"> 9</span><span class="comment"> notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"> 10</span><span class="comment"> * Redistributions in binary form must reproduce the above copyright</span></div>
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<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"> 11</span><span class="comment"> notice, this list of conditions and the following disclaimer in the</span></div>
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<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"> 12</span><span class="comment"> documentation and/or other materials provided with the distribution.</span></div>
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<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span><span class="comment"> * Neither the name of the Universite de Sherbrooke nor the</span></div>
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<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"> 14</span><span class="comment"> names of its contributors may be used to endorse or promote products</span></div>
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<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span><span class="comment"> derived from this software without specific prior written permission.</span></div>
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<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"> 16</span><span class="comment"></span> </div>
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<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"> 17</span><span class="comment">THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND</span></div>
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<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"> 18</span><span class="comment">ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED</span></div>
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<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"> 19</span><span class="comment">WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</span></div>
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<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"> 20</span><span class="comment">DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY</span></div>
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<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"> 21</span><span class="comment">DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</span></div>
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<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"> 22</span><span class="comment">(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
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<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"> 23</span><span class="comment">LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND</span></div>
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<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"> 24</span><span class="comment">ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span></div>
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<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"> 25</span><span class="comment">(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div>
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<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"> 26</span><span class="comment">SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div>
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<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"> 27</span><span class="comment">*/</span></div>
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<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"> 28</span> </div>
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<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span><span class="preprocessor">#ifndef ODOMETRYCUVSLAM_H_</span></div>
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<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span><span class="preprocessor">#define ODOMETRYCUVSLAM_H_</span></div>
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<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"> 31</span> </div>
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<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span><span class="preprocessor">#include <rtabmap/core/Odometry.h></span></div>
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<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span><span class="preprocessor">#include <memory></span></div>
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<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span><span class="preprocessor">#include <deque></span></div>
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<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span><span class="preprocessor">#include <array></span></div>
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<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span> </div>
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<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span><span class="preprocessor">#ifdef RTABMAP_CUVSLAM</span></div>
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<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span><span class="preprocessor">#include <cuvslam.h></span></div>
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<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span><span class="preprocessor">#include <ground_constraint.h></span></div>
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<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span><span class="preprocessor">#include <cuda_runtime.h></span></div>
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<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span><span class="preprocessor">#endif</span></div>
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<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span> </div>
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<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a> {</div>
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<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span> </div>
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<div class="foldopen" id="foldopen00045" data-start="{" data-end="};">
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<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryCuVSLAM.html"> 45</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1OdometryCuVSLAM.html">OdometryCuVSLAM</a> : <span class="keyword">public</span> <a class="code hl_class" href="classrtabmap_1_1Odometry.html">Odometry</a></div>
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<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span>{</div>
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<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span><span class="keyword">public</span>:</div>
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<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span> <a class="code hl_class" href="classrtabmap_1_1OdometryCuVSLAM.html">OdometryCuVSLAM</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a> & parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a>());</div>
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<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1OdometryCuVSLAM.html">~OdometryCuVSLAM</a>();</div>
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<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span> </div>
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<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryCuVSLAM.html#a4cb0a09fc8eb184b2e0d915980b02742"> 51</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1OdometryCuVSLAM.html#a4cb0a09fc8eb184b2e0d915980b02742">reset</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & initialPose = Transform::getIdentity());</div>
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<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryCuVSLAM.html#a68801df22a6803dabf7a064b99e04898"> 52</a></span> <span class="keyword">virtual</span> <a class="code hl_enumeration" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">Odometry::Type</a> <a class="code hl_function" href="classrtabmap_1_1OdometryCuVSLAM.html#a68801df22a6803dabf7a064b99e04898">getType</a>() {<span class="keywordflow">return</span> Odometry::kTypeCuVSLAM;}</div>
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<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span> </div>
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<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"> 54</span><span class="keyword">private</span>:</div>
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<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> computeTransform(<a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> & image, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & guess = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <a class="code hl_class" href="classrtabmap_1_1OdometryInfo.html">OdometryInfo</a> * info = 0);</div>
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<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> cleanupCuVSLAMResources();</div>
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<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span> </div>
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<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span><span class="keyword">private</span>:</div>
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<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span><span class="preprocessor">#ifdef RTABMAP_CUVSLAM</span></div>
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<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"> 60</span> CUVSLAM_TrackerHandle cuvslam_handle_;</div>
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<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span> CUVSLAM_GroundConstraintHandle ground_constraint_handle_;</div>
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<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span> </div>
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<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span> std::vector<CUVSLAM_Camera> cuvslam_cameras_;</div>
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<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span> std::vector<std::array<float, 12>> intrinsics_;</div>
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<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span> </div>
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<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span> <span class="comment">// State tracking</span></div>
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<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"> 67</span> <span class="keywordtype">bool</span> initialized_;</div>
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<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span> <span class="keywordtype">bool</span> lost_;</div>
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<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span> <span class="keywordtype">bool</span> tracking_;</div>
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<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span> <span class="keywordtype">bool</span> planar_constraints_;</div>
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<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"> 71</span> <span class="keywordtype">int</span> multicam_mode_;</div>
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<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"> 72</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> previous_pose_;</div>
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<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"> 73</span> <span class="keywordtype">double</span> last_timestamp_;</div>
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<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"> 74</span> </div>
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<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"> 75</span> <span class="comment">// Configuration Thresholds</span></div>
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<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"> 76</span> <span class="keywordtype">double</span> velocity_ratio_threshold_high_ = 1.5; <span class="comment">// The maximum velocity ratio of guess / estimated velocity needed to detect lost state.</span></div>
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<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"> 77</span> <span class="keywordtype">double</span> velocity_ratio_threshold_low_ = 0.5; <span class="comment">// The minimum velocity ratio of guess / estimated velocity needed to detect lost state.</span></div>
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<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"> 78</span> <span class="keywordtype">double</span> velocity_difference_threshold_ = 0.1; <span class="comment">// The maximum velocity difference between the guess and the estimated velocity needed to detect lost state.</span></div>
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<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"> 79</span> <span class="keywordtype">double</span> zero_estimated_velocity_threshold_ = 0.00001; <span class="comment">// The minimum cuVSLAM estimated velocity needed to detect lost state.</span></div>
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<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span> <span class="keywordtype">double</span> min_landmarks_threshold_ = 30; <span class="comment">// The minimum number of landmarks needed to start tracking after an initialization.</span></div>
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<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"> 81</span> </div>
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<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"> 82</span> <span class="comment">// Forward cuVLSAM covariance directly to RTAB-Map.</span></div>
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<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"> 83</span> <span class="comment">// When true this disables covariance based lost detection.</span></div>
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<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"> 84</span> <span class="keywordtype">bool</span> use_raw_covariance_ = <span class="keyword">false</span>;</div>
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<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"> 85</span> </div>
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<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span> <span class="comment">//visualization</span></div>
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<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"> 87</span> std::vector<CUVSLAM_Observation> observations_;</div>
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<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"> 88</span> std::vector<CUVSLAM_Landmark> landmarks_;</div>
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<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"> 89</span> </div>
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<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"> 90</span> <span class="comment">// GPU memory management</span></div>
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<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"> 91</span> std::vector<uint8_t *> gpu_left_image_data_; <span class="comment">// pointers to all gpu images</span></div>
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<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span> std::vector<uint8_t *> gpu_right_image_data_;</div>
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<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"> 93</span> std::vector<size_t> gpu_left_image_sizes_; <span class="comment">// size of one image</span></div>
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<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"> 94</span> std::vector<size_t> gpu_right_image_sizes_;</div>
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<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span> cudaStream_t cuda_stream_;</div>
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<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"> 96</span><span class="preprocessor">#endif</span></div>
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<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"> 97</span>};</div>
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</div>
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<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"> 98</span> </div>
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<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span>}</div>
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<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span> </div>
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<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span><span class="preprocessor">#endif </span><span class="comment">/* ODOMETRYCUVSLAM_H_ */</span><span class="preprocessor"></span></div>
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<div class="ttc" id="aclassrtabmap_1_1OdometryCuVSLAM_html"><div class="ttname"><a href="classrtabmap_1_1OdometryCuVSLAM.html">rtabmap::OdometryCuVSLAM</a></div><div class="ttdef"><b>Definition</b> <a href="OdometryCuVSLAM_8h_source.html#l00045">OdometryCuVSLAM.h:46</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1OdometryCuVSLAM_html_a4cb0a09fc8eb184b2e0d915980b02742"><div class="ttname"><a href="classrtabmap_1_1OdometryCuVSLAM.html#a4cb0a09fc8eb184b2e0d915980b02742">rtabmap::OdometryCuVSLAM::reset</a></div><div class="ttdeci">virtual void reset(const Transform &initialPose=Transform::getIdentity())</div><div class="ttdoc">Resets internal state and sets the initial pose.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1OdometryCuVSLAM_html_a68801df22a6803dabf7a064b99e04898"><div class="ttname"><a href="classrtabmap_1_1OdometryCuVSLAM.html#a68801df22a6803dabf7a064b99e04898">rtabmap::OdometryCuVSLAM::getType</a></div><div class="ttdeci">virtual Odometry::Type getType()</div><div class="ttdef"><b>Definition</b> <a href="OdometryCuVSLAM_8h_source.html#l00052">OdometryCuVSLAM.h:52</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html">rtabmap::OdometryInfo</a></div><div class="ttdoc">What one Odometry iteration produced, beyond the pose.</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00063">OdometryInfo.h:64</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Odometry_html"><div class="ttname"><a href="classrtabmap_1_1Odometry.html">rtabmap::Odometry</a></div><div class="ttdoc">Abstract base class for visual, lidar and visual-inertial odometry backends.</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00056">Odometry.h:57</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a6427d44c57fd6b7152b62d5b7cca1849"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">rtabmap::Odometry::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Odometry backend selected by Parameters::kOdomStrategy().</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00060">Odometry.h:60</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Transform_html"><div class="ttname"><a href="classrtabmap_1_1Transform.html">rtabmap::Transform</a></div><div class="ttdoc">Represents a 3D rigid body transformation (rotation + translation).</div><div class="ttdef"><b>Definition</b> <a href="Transform_8h_source.html#l00052">Transform.h:53</a></div></div>
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<div class="ttc" id="anamespacertabmap_html"><div class="ttname"><a href="namespacertabmap.html">rtabmap</a></div><div class="ttdef"><b>Definition</b> <a href="BayesFilter_8h_source.html#l00039">BayesFilter.h:39</a></div></div>
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<div class="ttc" id="anamespacertabmap_html_ad08b6f1796a27dd7316c99c385e2cc55"><div class="ttname"><a href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><div class="ttdeci">std::map< std::string, std::string > ParametersMap</div><div class="ttdoc">Parameter keys mapped to their values, as used by every configurable class (see Parameters).</div><div class="ttdef"><b>Definition</b> <a href="Parameters_8h_source.html#l00044">Parameters.h:44</a></div></div>
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