OdometryThread.cpp

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/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
 
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
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      notice, this list of conditions and the following disclaimer.
    * Redistributions in binary form must reproduce the above copyright
      notice, this list of conditions and the following disclaimer in the
      documentation and/or other materials provided with the distribution.
    * Neither the name of the Universite de Sherbrooke nor the
      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/SensorEvent.h>
#include "rtabmap/core/OdometryThread.h"
#include "rtabmap/core/Odometry.h"
#include "rtabmap/core/odometry/OdometryMono.h"
#include "rtabmap/core/OdometryInfo.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("SensorEvent") == 0)
                {
                        SensorEvent * sensorEvent = (SensorEvent*)event;
                        if(sensorEvent->getCode() == SensorEvent::kCodeData)
                        {
                                this->addData(sensorEvent->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