File helpers.hpp

Misc. helpers.

Helpers for

Functions

bool pointWithinMap(const Map2DInterface &map, const VectorInterface &pt)

Calculate if a point is within the map bounds.

Parameters
  • map – Map to use.

  • pt – Point in the world coordinate frame.

Returns

True if point is within the map, false otherwise.

CellCoordinates mapPointToCell(const Map2DInterface &map, const VectorInterface &pt)

Calculate the cell index for a point in the world coordinate frame.

Parameters
  • map – Map to use.

  • pt – Point in the world coordinate frame.

Returns

Cell coordinates.

Vector mapCellToPoint(const Map2DInterface &map, const CellCoordinates &cell)

Calculate the point (on the map plane) for a given cell index. Mid-point of a cell.

Parameters
  • map – Map to use.

  • cell – Cell coordinates.

Returns

Point on the map plane in world coordinate frame.

uint8_t mapGetOccupancyProbability(const Map2DInterface &map, const CellCoordinates &cell)

Get occupancy probability from the map for a given cell index.

Parameters
  • map – Map to use.

  • cell – Cell coordinates.

Returns

Occupancy probability value.

float mapGetHeight(const Map2DInterface &map, const CellCoordinates &cell)

Get height from the map for a given cell index.

Parameters
  • map – Map to use.

  • cell – Cell coordinates.

Returns

Height.

float mapGetHeightVariance(const Map2DInterface &map, const CellCoordinates &cell)

Get height variance from the map for a given cell index.

Parameters
  • map – Map to use.

  • cell – Cell coordinates.

Returns

Height variance.

void writeTrajectory(const slamcore::PoseListInterface<slamcore::camera_clock> &trajectory, const slamcore::TrackingStatusListInterface &trackingStatus, const std::string &filepath)

Write given trajectory to a file at filepath.

Parameters
  • trajectory – Poses to write.

  • trackingStatus – Tracking status to write.

  • filepath – Where to write the trajectory.

namespace slamcore

Main namespace for the SLAMcore public API

Get information about the client library

Helper conversion methods

slamcore::ImageFormat \(\leftrightarrow\) BytesPerPixel

Functions

bool pointWithinMap(const Map2DInterface &map, const VectorInterface &pt)

Calculate if a point is within the map bounds.

Parameters
  • map – Map to use.

  • pt – Point in the world coordinate frame.

Returns

True if point is within the map, false otherwise.

CellCoordinates mapPointToCell(const Map2DInterface &map, const VectorInterface &pt)

Calculate the cell index for a point in the world coordinate frame.

Parameters
  • map – Map to use.

  • pt – Point in the world coordinate frame.

Returns

Cell coordinates.

Vector mapCellToPoint(const Map2DInterface &map, const CellCoordinates &cell)

Calculate the point (on the map plane) for a given cell index. Mid-point of a cell.

Parameters
  • map – Map to use.

  • cell – Cell coordinates.

Returns

Point on the map plane in world coordinate frame.

uint8_t mapGetOccupancyProbability(const Map2DInterface &map, const CellCoordinates &cell)

Get occupancy probability from the map for a given cell index.

Parameters
  • map – Map to use.

  • cell – Cell coordinates.

Returns

Occupancy probability value.

float mapGetHeight(const Map2DInterface &map, const CellCoordinates &cell)

Get height from the map for a given cell index.

Parameters
  • map – Map to use.

  • cell – Cell coordinates.

Returns

Height.

float mapGetHeightVariance(const Map2DInterface &map, const CellCoordinates &cell)

Get height variance from the map for a given cell index.

Parameters
  • map – Map to use.

  • cell – Cell coordinates.

Returns

Height variance.

void writeTrajectory(const slamcore::PoseListInterface<slamcore::camera_clock> &trajectory, const slamcore::TrackingStatusListInterface &trackingStatus, const std::string &filepath)

Write given trajectory to a file at filepath.

Parameters
  • trajectory – Poses to write.

  • trackingStatus – Tracking status to write.

  • filepath – Where to write the trajectory.

struct CellCoordinates
#include <helpers.hpp>

Public Members

int x
int y