127 lines
3.7 KiB
C++
Executable File
127 lines
3.7 KiB
C++
Executable File
/*
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Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef RTABMAPTHREAD_H_
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#define RTABMAPTHREAD_H_
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#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
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#include <rtabmap/utilite/UThreadNode.h>
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#include <rtabmap/utilite/UEventsHandler.h>
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#include <rtabmap/utilite/USemaphore.h>
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#include <rtabmap/utilite/UMutex.h>
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#include "rtabmap/core/RtabmapEvent.h"
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#include "rtabmap/core/SensorData.h"
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#include "rtabmap/core/Parameters.h"
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#include "rtabmap/core/OdometryEvent.h"
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#include <stack>
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class UTimer;
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namespace rtabmap {
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class Rtabmap;
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class RTABMAP_EXP RtabmapThread :
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public UThreadNode,
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public UEventsHandler
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{
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public:
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enum State {
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kStateInit,
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kStateDetecting,
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kStateReseting,
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kStateClose,
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kStateChangingParameters,
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kStateDumpingMemory,
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kStateDumpingPrediction,
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kStateExportingDOTGraph,
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kStateExportingPoses,
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kStateCleanDataBuffer,
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kStatePublishingMap,
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kStateTriggeringMap,
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kStateAddingUserData,
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kStateSettingGoal,
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kStateCancellingGoal,
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kStateLabelling
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};
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public:
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// take ownership
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RtabmapThread(Rtabmap * rtabmap);
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virtual ~RtabmapThread();
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void clearBufferedData();
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void setDetectorRate(float rate);
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void setDataBufferSize(unsigned int bufferSize);
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void createIntermediateNodes(bool enabled);
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// this will delete rtabmap object if set
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void close(bool databaseSaved);
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protected:
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virtual void handleEvent(UEvent * anEvent);
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private:
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virtual void mainLoopBegin();
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virtual void mainLoop();
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virtual void mainLoopKill();
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void process();
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void addData(const OdometryEvent & odomEvent);
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bool getData(OdometryEvent & data);
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void pushNewState(State newState, const ParametersMap & parameters = ParametersMap());
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void publishMap(bool optimized, bool full, bool graphOnly) const;
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private:
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UMutex _stateMutex;
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std::stack<State> _state;
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std::stack<ParametersMap> _stateParam;
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std::list<OdometryEvent> _dataBuffer;
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UMutex _dataMutex;
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USemaphore _dataAdded;
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unsigned int _dataBufferMaxSize;
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float _rate;
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bool _createIntermediateNodes;
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UTimer * _frameRateTimer;
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double _previousStamp;
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Rtabmap * _rtabmap;
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bool _paused;
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Transform lastPose_;
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double _rotVariance;
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double _transVariance;
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cv::Mat _userData;
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UMutex _userDataMutex;
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};
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} /* namespace rtabmap */
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#endif /* RTABMAPTHREAD_H_ */
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