# RTAB-Map SLAM 节点

RTABMapSLAM 主机节点用于在主机端运行 RTAB-Map SLAM。它接收矫正图像、深度图像和上游里程计数据作为输入，输出校正后的变换以及地图数据（如占据网格和点云）。可选地，它也可以消耗跟踪特征。

## 如何放置

#### Python

```python
with dai.Pipeline() as pipeline:
    slam = pipeline.create(dai.node.RTABMapSLAM)
```

#### C++

```cpp
dai::Pipeline pipeline;
auto slam = pipeline.create<dai::node::RTABMapSLAM>();
```

## 输入与输出

## 使用

#### Python

```python
with dai.Pipeline() as pipeline:
    stereo = pipeline.create(dai.node.StereoDepth)
    odom = pipeline.create(dai.node.BasaltVIO)
    slam = pipeline.create(dai.node.RTABMapSLAM)

    slam.setParams({
        "RGBD/CreateOccupancyGrid": "true",
        "Grid/3D": "true",
    })
    slam.setFreq(1.0)

    odom.transform.link(slam.odom)
    stereo.rectifiedLeft.link(slam.rect)
    stereo.depth.link(slam.depth)

    # 可选：当有跟踪特征时启用：
    # slam.setUseFeatures(True)
    # featureTracker.outputFeatures.link(slam.features)
```

#### C++

```cpp
dai::Pipeline pipeline;
auto stereo = pipeline.create<dai::node::StereoDepth>();
auto odom = pipeline.create<dai::node::BasaltVIO>();
auto slam = pipeline.create<dai::node::RTABMapSLAM>();

slam->setParams({
    {"RGBD/CreateOccupancyGrid", "true"},
    {"Grid/3D", "true"},
});
slam->setFreq(1.0f);

odom->transform.link(slam->odom);
stereo->rectifiedLeft.link(slam->rect);
stereo->depth.link(slam->depth);

// 可选：当有跟踪特征时启用：
// slam->setUseFeatures(true);
// featureTracker->outputFeatures.link(slam->features);
```

## 功能示例

 * [Basalt VIO RTAB-Map SLAM](https://docs.luxonis.com/software-v3/depthai/examples/vslam/basalt_vio_rtab.md)

## 参考

### dai::node::RTABMapSLAM

Kind: class

RTABMap SLAM node. Performs SLAM on given odometry pose, rectified frame and depth frame.

#### Subnode < node::Sync > sync

Kind: variable

#### InputMap & inputs

Kind: variable

#### std::string rectInputName

Kind: variable

#### std::string depthInputName

Kind: variable

#### std::string featuresInputName

Kind: variable

#### Input & rect

Kind: variable

Input rectified image on which SLAM is performed.

#### Input & depth

Kind: variable

Input depth image on which SLAM is performed.

#### Input features

Kind: variable

Input tracked features on which SLAM is performed (optional).

#### Input odom

Kind: variable

Input odometry pose.

#### Output transform

Kind: variable

Output transform.

#### Output odomCorrection

Kind: variable

Output odometry correction (map to odom).

#### Output obstaclePCL

Kind: variable

Output obstacle point cloud.

#### Output groundPCL

Kind: variable

Output ground point cloud.

#### Output occupancyGridMap

Kind: variable

Output occupancy grid map.

#### Output passthroughRect

Kind: variable

Output passthrough rectified image.

#### Output passthroughDepth

Kind: variable

Output passthrough depth image.

#### Output passthroughFeatures

Kind: variable

Output passthrough features.

#### Output passthroughOdom

Kind: variable

Output passthrough odometry pose.

#### RTABMapSLAM()

Kind: function

#### ~RTABMapSLAM()

Kind: function

#### void setParams(const std::map< std::string, std::string > & params)

Kind: function

Set RTABMap parameters. For the list of all parameters visit

#### void setDatabasePath(const std::string & path)

Kind: function

Set RTABMap database path. "/tmp/rtabmap.tmp.db" by default.

#### void setLoadDatabaseOnStart(bool load)

Kind: function

Whether to load the database on start. False by default.

#### void setSaveDatabaseOnClose(bool save)

Kind: function

Whether to save the database on close. False by default.

#### void saveDatabase()

Kind: function

#### void setSaveDatabasePeriodically(bool save)

Kind: function

Whether to save the database periodically. False by default.

#### void setSaveDatabasePeriod(double interval)

Kind: function

Set the interval at which the database is saved. 30.0s by default.

#### void setPublishObstacleCloud(bool publish)

Kind: function

Whether to publish the obstacle point cloud. True by default.

#### void setPublishGroundCloud(bool publish)

Kind: function

Whether to publish the ground point cloud. True by default.

#### void setPublishGrid(bool publish)

Kind: function

Whether to publish the ground point cloud. True by default.

#### void setFreq(float f)

Kind: function

Set the frequency at which the node processes data. 1Hz by default.

#### void setAlphaScaling(float alpha)

Kind: function

Set the alpha scaling factor for the camera model.

#### void setUseFeatures(bool use)

Kind: function

Whether to use input features for SLAM. False by default.

#### void setLocalTransform(std::shared_ptr< TransformData > transform)

Kind: function

#### std::shared_ptr< TransformData > getLocalTransform()

Kind: function

#### void triggerNewMap()

Kind: function

Trigger a new map.

#### void buildInternal()

Kind: function

Function called from within the

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