File types.hpp¶

Types used across the API.

Helper functions for slamcore::SensorType

template<class Archive> static inline void load_minimal(const Archive&, SensorType &obj, const std::string &value)¶

template<class Archive> static inline std::string save_minimal(const Archive&, const SensorType &obj)¶

static inline std::ostream &operator<<(std::ostream &os, const SensorType obj)¶

Helper functions for slamcore::ImageFormat

template<class Archive> static inline void load_minimal(const Archive&, ImageFormat &obj, const std::string &value)¶

template<class Archive> static inline std::string save_minimal(const Archive&, const ImageFormat &obj)¶

static inline std::ostream &operator<<(std::ostream &os, const ImageFormat obj)¶

Helper conversion methods

slamcore::ImageFormat \(\leftrightarrow\) BytesPerPixel

template<ImageFormat fmt> static inline std::size_t ImageFormatToBytesPerPixel()¶

static inline std::size_t ImageFormatToBytesPerPixel(const ImageFormat fmt)¶

Helper functions for slamcore::MetaDataID

template<class Archive> static inline void load_minimal(const Archive&, MetaDataID &obj, const std::string &value)¶

template<class Archive> static inline std::string save_minimal(const Archive&, const MetaDataID &obj)¶

static inline std::ostream &operator<<(std::ostream &os, const MetaDataID obj)¶

Typedefs

using ScalarT = double¶: Default scalar type.

using EnumBaseT = uint16_t¶: Enum underlying integer type.

using IDT = uint64_t¶: Generic ID type.

using SessionIDT = uint64_t¶: Session ID type.

using SensorIndexT = uint16_t¶: Sensor Index type.

using SensorIDT = std::pair<SensorType, SensorIndexT>¶

Sensor ID type.

SensorType and Sensor Index.

Enums

enum SensorType¶

Possible Sensor Types.

Values:

enumerator SLAM¶: Outputs from SLAM.

enumerator Visible¶: Standard Visible (Grey/RGB) Sensor (Camera).

enumerator Depth¶: Standard Depth Sensor (Camera).

enumerator Infrared¶: Standard Infrared Sensor (Camera).

enumerator Confidence¶: For time-of-flight Sensors (Camera).

enumerator Phase¶: For time-of-flight Sensors (Camera).

enumerator Accelerometer¶: Inertial Accelerometer Sensor (IMU).

enumerator Gyroscope¶: Inertial Gyroscope Sensor (IMU).

enumerator Magnetometer¶: Inertial Magnetometer Sensor (IMU).

enumerator GPS¶: GPS Sensor.

enumerator Odometry¶: Odometry Sensor.

enumerator Encoder¶: Encoder, for wheel ticks.

enumerator Pose¶: Pose “Sensor”, e.g. ground truth.

enumerator Bumper¶: Bumper

enumerator Proximity¶: Proximity sensor.

enumerator LIDAR¶: LIDAR (2D).

enumerator Count¶

enum ImageFormat¶

Various internal image formats.

Values:

enumerator Custom¶: Undefined.

enumerator Mono_8¶: 8 bit per pixel

enumerator Mono_16¶: 16 bit per pixel

enumerator Mono_F¶: 32 bit float per pixel

enumerator RGB_8¶: 8 bit per component, RGB

enumerator RGBA_8¶: 8 bit per component, RGBA

enumerator RGB_F¶: 32 bit float per component, RGB

enumerator RGBA_F¶: 32 bit float per component, RGBA

enumerator JPEG¶: Binary JPEG data.

enumerator Mono_32¶: 32 bit per pixel

enumerator Mono_64¶: 64 bit per pixel

enumerator Count¶

enum MetaDataID¶

Various supported MetaData variables.

Values:

enumerator TrackingStatus¶

enumerator NumFeatures¶

enumerator TrackedFeatures¶

enumerator DistanceTravelled¶

enumerator ProcessedFrameRate¶

enumerator TotalDroppedFrames¶

enumerator Count¶

enum TrackingStatus

Enumerate for the Tracking status.

Values:

enumerator NOT_INITIALISED¶: System is not initialised (waiting for initialisation)

enumerator OK¶: System is initialised and we are tracking.

enumerator LOST¶: System is lost and we are in relocalisation mode.

enumerator RELOCALISED¶: System has just relocalised.

enumerator LOOP_CLOSURE¶: A loop closure event has been triggered.

enumerator Count¶

enum PositioningMode

Type of positioning mode.

Values:

enumerator ODOMETRY_ONLY¶: Visual-only or visual inertial odometry.

enumerator SLAM¶: SLAM mode enables relocalisation and loop-closure.

enumerator MULTISESSION_LOCALISATION¶: Bootstrap from pure_relocalisation and then VIO and reuse of old landmarks with the Visibility Classifier.

enumerator Count¶

Functions

static inline bool strcasecmp(const std::string &str1, const std::string &str2)¶: Static insensitive comparison of two strings.

static inline std::ostream &operator<<(std::ostream &os, const SensorIDT obj)¶

template<class Archive> std::string save_minimal(const Archive&, const TrackingStatus &obj)¶

template<class Archive> void load_minimal(const Archive&, TrackingStatus &obj, const std::string &value)¶

static inline std::ostream &operator<<(std::ostream &os, const TrackingStatus &obj)¶

template<class Archive> std::string save_minimal(const Archive&, const PositioningMode &obj)¶

template<class Archive> void load_minimal(const Archive&, PositioningMode &obj, const std::string &value)¶

static inline std::ostream &operator<<(std::ostream &os, const PositioningMode &obj)¶

template<> struct slamcore::ImageFormatTraits<ImageFormat::Mono_8>¶

#include <types.hpp>

Public Types

using ChannelType = uint8_t¶

Public Static Attributes

static constexpr std::size_t Channels = 1¶

template<> struct slamcore::ImageFormatTraits<ImageFormat::Mono_16>¶

#include <types.hpp>

Public Types

using ChannelType = uint16_t¶

Public Static Attributes

static constexpr std::size_t Channels = 1¶

template<> struct slamcore::ImageFormatTraits<ImageFormat::Mono_F>¶

#include <types.hpp>

Public Types

using ChannelType = float¶

Public Static Attributes

static constexpr std::size_t Channels = 1¶

template<> struct slamcore::ImageFormatTraits<ImageFormat::RGB_8>¶

#include <types.hpp>

Public Types

using ChannelType = uint8_t¶

Public Static Attributes

static constexpr std::size_t Channels = 3¶

template<> struct slamcore::ImageFormatTraits<ImageFormat::RGBA_8>¶

#include <types.hpp>

Public Types

using ChannelType = uint8_t¶

Public Static Attributes

static constexpr std::size_t Channels = 4¶

template<> struct slamcore::ImageFormatTraits<ImageFormat::RGB_F>¶

#include <types.hpp>

Public Types

using ChannelType = float¶

Public Static Attributes

static constexpr std::size_t Channels = 3¶

template<> struct slamcore::ImageFormatTraits<ImageFormat::RGBA_F>¶

#include <types.hpp>

Public Types

using ChannelType = float¶

Public Static Attributes

static constexpr std::size_t Channels = 4¶

template<> struct slamcore::ImageFormatTraits<ImageFormat::Mono_32>¶

#include <types.hpp>

Public Types

using ChannelType = uint32_t¶

Public Static Attributes

static constexpr std::size_t Channels = 1¶

template<> struct slamcore::ImageFormatTraits<ImageFormat::Mono_64>¶

#include <types.hpp>

Public Types

using ChannelType = uint64_t¶

Public Static Attributes

static constexpr std::size_t Channels = 1¶

namespace slamcore

Main namespace for the SLAMcore public API

Get information about the client library

Helper functions for slamcore::SensorType

template<class Archive> static inline void load_minimal(const Archive&, SensorType &obj, const std::string &value)¶

template<class Archive> static inline std::string save_minimal(const Archive&, const SensorType &obj)¶

static inline std::ostream &operator<<(std::ostream &os, const SensorType obj)¶

Helper functions for slamcore::ImageFormat

template<class Archive> static inline void load_minimal(const Archive&, ImageFormat &obj, const std::string &value)¶

template<class Archive> static inline std::string save_minimal(const Archive&, const ImageFormat &obj)¶

static inline std::ostream &operator<<(std::ostream &os, const ImageFormat obj)¶

Helper conversion methods

slamcore::ImageFormat \(\leftrightarrow\) BytesPerPixel

template<ImageFormat fmt> static inline std::size_t ImageFormatToBytesPerPixel()¶

static inline std::size_t ImageFormatToBytesPerPixel(const ImageFormat fmt)¶

Helper functions for slamcore::MetaDataID

template<class Archive> static inline void load_minimal(const Archive&, MetaDataID &obj, const std::string &value)¶

template<class Archive> static inline std::string save_minimal(const Archive&, const MetaDataID &obj)¶

static inline std::ostream &operator<<(std::ostream &os, const MetaDataID obj)¶

Typedefs

using ScalarT = double¶: Default scalar type.

using EnumBaseT = uint16_t¶: Enum underlying integer type.

using IDT = uint64_t¶: Generic ID type.

using SessionIDT = uint64_t¶: Session ID type.

using SensorIndexT = uint16_t¶: Sensor Index type.

using SensorIDT = std::pair<SensorType, SensorIndexT>¶

Sensor ID type.

SensorType and Sensor Index.

Enums

enum SensorType¶

Possible Sensor Types.

Values:

enumerator SLAM¶: Outputs from SLAM.

enumerator Visible¶: Standard Visible (Grey/RGB) Sensor (Camera).

enumerator Depth¶: Standard Depth Sensor (Camera).

enumerator Infrared¶: Standard Infrared Sensor (Camera).

enumerator Confidence¶: For time-of-flight Sensors (Camera).

enumerator Phase¶: For time-of-flight Sensors (Camera).

enumerator Accelerometer¶: Inertial Accelerometer Sensor (IMU).

enumerator Gyroscope¶: Inertial Gyroscope Sensor (IMU).

enumerator Magnetometer¶: Inertial Magnetometer Sensor (IMU).

enumerator GPS¶: GPS Sensor.

enumerator Odometry¶: Odometry Sensor.

enumerator Encoder¶: Encoder, for wheel ticks.

enumerator Pose¶: Pose “Sensor”, e.g. ground truth.

enumerator Bumper¶: Bumper

enumerator Proximity¶: Proximity sensor.

enumerator LIDAR¶: LIDAR (2D).

enumerator Count¶

enum ImageFormat¶

Various internal image formats.

Values:

enumerator Custom¶: Undefined.

enumerator Mono_8¶: 8 bit per pixel

enumerator Mono_16¶: 16 bit per pixel

enumerator Mono_F¶: 32 bit float per pixel

enumerator RGB_8¶: 8 bit per component, RGB

enumerator RGBA_8¶: 8 bit per component, RGBA

enumerator RGB_F¶: 32 bit float per component, RGB

enumerator RGBA_F¶: 32 bit float per component, RGBA

enumerator JPEG¶: Binary JPEG data.

enumerator Mono_32¶: 32 bit per pixel

enumerator Mono_64¶: 64 bit per pixel

enumerator Count¶

enum MetaDataID¶

Various supported MetaData variables.

Values:

enumerator TrackingStatus¶

enumerator NumFeatures¶

enumerator TrackedFeatures¶

enumerator DistanceTravelled¶

enumerator ProcessedFrameRate¶

enumerator TotalDroppedFrames¶

enumerator Count¶

enum TrackingStatus

Enumerate for the Tracking status.

Values:

enumerator NOT_INITIALISED¶: System is not initialised (waiting for initialisation)

enumerator OK¶: System is initialised and we are tracking.

enumerator LOST¶: System is lost and we are in relocalisation mode.

enumerator RELOCALISED¶: System has just relocalised.

enumerator LOOP_CLOSURE¶: A loop closure event has been triggered.

enumerator Count¶

enum PositioningMode

Type of positioning mode.

Values:

enumerator ODOMETRY_ONLY¶: Visual-only or visual inertial odometry.

enumerator SLAM¶: SLAM mode enables relocalisation and loop-closure.

enumerator MULTISESSION_LOCALISATION¶: Bootstrap from pure_relocalisation and then VIO and reuse of old landmarks with the Visibility Classifier.

enumerator Count¶

Functions

static inline bool strcasecmp(const std::string &str1, const std::string &str2)¶: Static insensitive comparison of two strings.

static inline std::ostream &operator<<(std::ostream &os, const SensorIDT obj)¶

template<class Archive> std::string save_minimal(const Archive&, const TrackingStatus &obj)¶

template<class Archive> void load_minimal(const Archive&, TrackingStatus &obj, const std::string &value)¶

static inline std::ostream &operator<<(std::ostream &os, const TrackingStatus &obj)¶

template<class Archive> std::string save_minimal(const Archive&, const PositioningMode &obj)¶

template<class Archive> void load_minimal(const Archive&, PositioningMode &obj, const std::string &value)¶

static inline std::ostream &operator<<(std::ostream &os, const PositioningMode &obj)¶

template<ImageFormat fmt> struct ImageFormatTraits¶

#include <types.hpp>

Traits specific to the corresponding slamcore::ImageFormat they are templated for Supports storing information for the following properties:

Channels - numbers of associated channels
ChannelType - e.g., float / double, …

template<> Mono_16 >

#include <types.hpp>

Public Types

using ChannelType = uint16_t¶

Public Static Attributes

static constexpr std::size_t Channels = 1¶

template<> Mono_32 >

#include <types.hpp>

Public Types

using ChannelType = uint32_t

Public Static Attributes

static constexpr std::size_t Channels = 1

template<> Mono_64 >

#include <types.hpp>

Public Types

using ChannelType = uint64_t

Public Static Attributes

static constexpr std::size_t Channels = 1

template<> Mono_8 >

#include <types.hpp>

Public Types

using ChannelType = uint8_t

Public Static Attributes

static constexpr std::size_t Channels = 1

template<> Mono_F >

#include <types.hpp>

Public Types

using ChannelType = float

Public Static Attributes

static constexpr std::size_t Channels = 1

template<> RGB_8 >

#include <types.hpp>

Public Types

using ChannelType = uint8_t

Public Static Attributes

static constexpr std::size_t Channels = 3

template<> RGB_F >

#include <types.hpp>

Public Types

using ChannelType = float

Public Static Attributes

static constexpr std::size_t Channels = 3

template<> RGBA_8 >

#include <types.hpp>

Public Types

using ChannelType = uint8_t

Public Static Attributes

static constexpr std::size_t Channels = 4

template<> RGBA_F >

#include <types.hpp>

Public Types

using ChannelType = float

Public Static Attributes

static constexpr std::size_t Channels = 4

struct MultiSessionID¶

#include <types.hpp>

ID for objects that can come from different sessions.

Public Types

using ValueT = int64_t¶

Public Functions

inline MultiSessionID()¶

inline MultiSessionID(const SessionIDT sid, const ValueT id)¶

MultiSessionID(const MultiSessionID &rhs) = default¶

MultiSessionID(MultiSessionID &&rhs) = default¶

MultiSessionID &operator=(MultiSessionID &&rhs) = default¶

MultiSessionID &operator=(const MultiSessionID &rhs) = default¶

inline ValueT value() const¶: Returns the zero-based index or -1 for the special case MultiFrameID.

inline SessionIDT session() const¶: Get the session ID.

Public Static Attributes

static constexpr SessionIDT s_invalidSession = std::numeric_limits<SessionIDT>::max()¶

Private Members

SessionIDT m_session_id¶

ValueT m_value¶

Friends

friend struct MultiSessionIDAccess

inline friend friend std::ostream & operator<< (std::ostream &os, const MultiSessionID &v)

template<typename ContainerT> class RangeIterator

#include <types.hpp>

Simple indexing iterator. Needs operator()[] in the container.

Public Types

using value_type = typename ContainerT::value_type

Public Functions

inline RangeIterator(const ContainerT &c, std::size_t idx = 0)

inline bool operator!=(const RangeIterator &other) const

inline const RangeIterator &operator++() const

value_type &operator*()

const value_type &operator*() const

Private Members

const ContainerT &m_cont¶

mutable std::size_t m_idx¶

struct ReferenceFrameInterface¶

#include <types.hpp>

Interface representing a coordinate system frame of reference

Public Functions

virtual ~ReferenceFrameInterface() = default¶

virtual const std::string &name() const = 0¶: Human readable name for the frame of reference

inline bool operator==(const ReferenceFrameInterface &other) const¶

inline bool operator!=(const ReferenceFrameInterface &other) const¶