OdometryThread.cpp

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/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.

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      documentation and/or other materials provided with the distribution.
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      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.

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#include "rtabmap/core/OdometryThread.h"
#include "rtabmap/core/Odometry.h"
#include "rtabmap/core/odometry/OdometryMono.h"
#include "rtabmap/core/OdometryInfo.h"
#include "rtabmap/core/CameraEvent.h"
#include "rtabmap/core/OdometryEvent.h"
#include "rtabmap/utilite/ULogger.h"

namespace rtabmap {

OdometryThread::OdometryThread(Odometry * odometry, unsigned int dataBufferMaxSize) :
        _odometry(odometry),
        _dataBufferMaxSize(dataBufferMaxSize),
        _resetOdometry(false),
        _resetPose(Transform::getIdentity()),
        _lastImuStamp(0.0),
        _imuEstimatedDelay(0.0)
{
        UASSERT(_odometry != 0);
}

OdometryThread::~OdometryThread()
{
        this->unregisterFromEventsManager();
        this->join(true);
        delete _odometry;
        UDEBUG("");
}

bool OdometryThread::handleEvent(UEvent * event)
{
        if(this->isRunning())
        {
                if(event->getClassName().compare("CameraEvent") == 0)
                {
                        CameraEvent * cameraEvent = (CameraEvent*)event;
                        if(cameraEvent->getCode() == CameraEvent::kCodeData)
                        {
                                this->addData(cameraEvent->data());
                        }
                }
                else if(event->getClassName().compare("IMUEvent") == 0)
                {
                        IMUEvent * imuEvent = (IMUEvent*)event;
                        if(!imuEvent->getData().empty())
                        {
                                this->addData(SensorData(imuEvent->getData(), 0, imuEvent->getStamp()));
                        }
                }
        }
        if(event->getClassName().compare("OdometryResetEvent") == 0)
        {
                OdometryResetEvent * odomEvent = (OdometryResetEvent*)event;
                _resetPose.setIdentity();
                if(!odomEvent->getPose().isNull())
                {
                        _resetPose = odomEvent->getPose();
                }
                _resetOdometry = true;
        }
        return false;
}

void OdometryThread::mainLoopBegin()
{
        ULogger::registerCurrentThread("Odometry");
}

void OdometryThread::mainLoopKill()
{
        _dataAdded.release();
}

//============================================================
// MAIN LOOP
//============================================================
void OdometryThread::mainLoop()
{
        if(_resetOdometry)
        {
                _odometry->reset(_resetPose);
                _resetOdometry = false;
                UScopeMutex lock(_dataMutex);
                _dataBuffer.clear();
                _imuBuffer.clear();
                _lastImuStamp = 0.0f;
        }

        SensorData data;
        if(getData(data))
        {
                OdometryInfo info;
                UDEBUG("Processing data...");
                Transform pose = _odometry->process(data, &info);
                if(!data.imageRaw().empty() || !data.laserScanRaw().empty() || (pose.isNull() && data.imu().empty()))
                {
                        UDEBUG("Odom pose = %s", pose.prettyPrint().c_str());
                        // a null pose notify that odometry could not be computed
                        this->post(new OdometryEvent(data, pose, info));
                }
        }
}

void OdometryThread::addData(const SensorData & data)
{
        if(data.imu().empty())
        {
                if(dynamic_cast<OdometryMono*>(_odometry) == 0)
                {
                        if((data.imageRaw().empty() || data.depthOrRightRaw().empty() || (data.cameraModels().empty() && data.stereoCameraModels().empty())) &&
                                        data.laserScanRaw().empty())
                        {
                                ULOGGER_ERROR("Missing some information (images/scans empty or missing calibration)!?");
                                return;
                        }
                }
                else
                {
                        // Mono can accept RGB only
                        if(data.imageRaw().empty() || (data.cameraModels().empty() && data.stereoCameraModels().empty()))
                        {
                                ULOGGER_ERROR("Missing some information (image empty or missing calibration)!?");
                                return;
                        }
                }
        }

        bool notify = true;
        _dataMutex.lock();
        {
                if(!data.imageRaw().empty() || !data.laserScanRaw().isEmpty() || data.imu().empty())
                {
                        _dataBuffer.push_back(data);
                        while(_dataBufferMaxSize > 0 && _dataBuffer.size() > _dataBufferMaxSize)
                        {
                                UDEBUG("Data buffer is full, the oldest data is removed to add the new one.");
                                _dataBuffer.erase(_dataBuffer.begin());
                                notify = false;
                        }
                }
                else
                {
                        _imuBuffer.push_back(data);
                        if(_lastImuStamp != 0.0 && data.stamp() > _lastImuStamp)
                        {
                                _imuEstimatedDelay = data.stamp() - _lastImuStamp;
                        }
                        _lastImuStamp = data.stamp();
                }
        }
        _dataMutex.unlock();

        if(notify)
        {
                _dataAdded.release();
        }
}

bool OdometryThread::getData(SensorData & data)
{
        bool dataFilled = false;
        _dataAdded.acquire();
        _dataMutex.lock();
        {
                if(!_dataBuffer.empty())
                {
                        if(!_imuBuffer.empty())
                        {
                                // Send IMU up to stamp greater than image (OpenVINS needs this).
                                while(!_imuBuffer.empty())
                                {
                                        _odometry->process(_imuBuffer.front());
                                        double stamp = _imuBuffer.front().stamp();
                                        _imuBuffer.pop_front();
                                        if(stamp > _dataBuffer.front().stamp())
                                        {
                                                break;
                                        }
                                }
                        }

                        data = _dataBuffer.front();
                        _dataBuffer.pop_front();
                        dataFilled = true;
                }
        }
        _dataMutex.unlock();
        return dataFilled;
}

} // namespace rtabmap