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File slam.hpp

Introduce the SLAMSystemPollingInterface and associated classes/enums. The former is the main object for interacting with the SLAM engine.

Helper functions for slamcore::Stream

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

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

static inline std::ostream &operator<<(std::ostream &os, const Stream &obj)

Helper functions for slamcore::Property

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

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

static inline std::ostream &operator<<(std::ostream &os, const Property &obj)

Get information about the client library

Helper functions for slamcore::DataSource

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

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

static inline std::ostream &operator<<(std::ostream &os, const DataSource &obj)

Enums

enum class Stream : EnumBaseT 

Supported data streams

Values:

enumerator Pose: Used for PoseInterface.

enumerator Video: Used for MultiFrameInterface.

enumerator IMU: Used for IMUListInterface.

enumerator ActiveMap: Used for SparseMapInterface.

enumerator Velocity: Used for VelocityInterface<camera_clock>

enumerator MetaData: Used for MetaDataInterface.

enumerator FrameSync: Used for FrameSyncInterface.

enumerator ErrorCode: used for ErrorCodeInterface

enumerator LocalPointCloud: used for PointCloudInterface

enumerator Count

enum class Property : EnumBaseT 

Properties to query and set.

Values:

enumerator ModelName: std::string, read-only, device model name

enumerator SerialNumber: std::string, read-only, serial number of the device

enumerator SensorInfo: std::string, read-only, misc sensor info

enumerator FirmwareVersion: std::string, read-only, firmware version

enumerator FirmwareBuildTime: std::string, read-only, firmware build time

enumerator FirmwareBuildVersion: std::string, read-only, contains SLAM build info

enumerator FirmwareBuildType: std::string, read-only, contains SLAM build type info

enumerator PositioningMode: PositioningMode enum, read-only, position mode of the SLAM system

enumerator ConfigPresetName: std::string, read-only, name of config preset

enumerator FeatureMap2DEnabled: bool, read-only, Whether 2D mapping features are enabled

enumerator FeatureKinematicsEnabled: bool, read-only, Whether we are running with kinematics enabled

enumerator SaveTrajectories: bool, Whether trajectories are saved

enumerator Count

enum class DataSource : EnumBaseT 

Input data source.

Values:

enumerator Dataset

enumerator RealSense

enumerator Count

template<> struct StreamType<Stream::Pose>

#include <slam.hpp>

Public Types

using type = PoseInterface<camera_clock>

template<> struct StreamType<Stream::Video>

#include <slam.hpp>

Public Types

using type = MultiFrameInterface 

template<> struct StreamType<Stream::IMU>

#include <slam.hpp>

Public Types

using type = IMUListInterface 

template<> struct StreamType<Stream::ActiveMap>

#include <slam.hpp>

Public Types

using type = SparseMapInterface 

template<> struct StreamType<Stream::Velocity>

#include <slam.hpp>

Public Types

using type = VelocityInterface<camera_clock>

template<> struct StreamType<Stream::MetaData>

#include <slam.hpp>

Public Types

using type = MetaDataInterface 

template<> struct StreamType<Stream::FrameSync>

#include <slam.hpp>

Public Types

using type = FrameSyncInterface 

template<> struct StreamType<Stream::ErrorCode>

#include <slam.hpp>

Public Types

using type = ErrorCodeInterface 

template<> struct StreamType<Stream::LocalPointCloud>

#include <slam.hpp>

Public Types

using type = PointCloudInterface 

namespace slamcore

Main namespace for the SLAMcore public API

Helper functions for slamcore::Stream

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

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

static inline std::ostream &operator<<(std::ostream &os, const Stream &obj)

Helper functions for slamcore::Property

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

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

static inline std::ostream &operator<<(std::ostream &os, const Property &obj)

Get information about the client library

Helper functions for slamcore::DataSource

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

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

static inline std::ostream &operator<<(std::ostream &os, const DataSource &obj)

Helper conversion methods

slamcore::ImageFormat \(\leftrightarrow\) BytesPerPixel

Enums

enum class Stream : EnumBaseT 

Supported data streams

Values:

enumerator Pose: Used for PoseInterface.

enumerator Video: Used for MultiFrameInterface.

enumerator IMU: Used for IMUListInterface.

enumerator ActiveMap: Used for SparseMapInterface.

enumerator Velocity: Used for VelocityInterface<camera_clock>

enumerator MetaData: Used for MetaDataInterface.

enumerator FrameSync: Used for FrameSyncInterface.

enumerator ErrorCode: used for ErrorCodeInterface

enumerator LocalPointCloud: used for PointCloudInterface

enumerator Count

enum class Property : EnumBaseT 

Properties to query and set.

Values:

enumerator ModelName: std::string, read-only, device model name

enumerator SerialNumber: std::string, read-only, serial number of the device

enumerator SensorInfo: std::string, read-only, misc sensor info

enumerator FirmwareVersion: std::string, read-only, firmware version

enumerator FirmwareBuildTime: std::string, read-only, firmware build time

enumerator FirmwareBuildVersion: std::string, read-only, contains SLAM build info

enumerator FirmwareBuildType: std::string, read-only, contains SLAM build type info

enumerator PositioningMode: PositioningMode enum, read-only, position mode of the SLAM system

enumerator ConfigPresetName: std::string, read-only, name of config preset

enumerator FeatureMap2DEnabled: bool, read-only, Whether 2D mapping features are enabled

enumerator FeatureKinematicsEnabled: bool, read-only, Whether we are running with kinematics enabled

enumerator SaveTrajectories: bool, Whether trajectories are saved

enumerator Count

enum class DataSource : EnumBaseT 

Input data source.

Values:

enumerator Dataset

enumerator RealSense

enumerator Count

template<typename PT> class PropertiesInterface

#include <slam.hpp>

Helper for handling the properties.

Property-getters

Query property value.

param pt: Property to query.
param val: Return value.
param idx: Optional index for array-like properties.

return: Error code.

template<typename T> inline std::enable_if<std::is_integral<T>::value, T>::type getProperty(PropertyT pt, std::size_t idx = 0) const

template<typename T> inline std::enable_if<std::is_enum<T>::value, T>::type getProperty(PropertyT pt, std::size_t idx = 0) const

template<typename T> inline std::enable_if<std::is_floating_point<T>::value, T>::type getProperty(PropertyT pt, std::size_t idx = 0) const

template<typename T> inline std::enable_if<std::is_same<T, std::string>::value, T>::type getProperty(PropertyT pt, std::size_t idx = 0) const

template<typename T> inline std::enable_if<std::is_same<T, SensorIDT>::value, T>::type getProperty(PropertyT pt, std::size_t idx = 0) const

template<typename T> inline std::enable_if<std::is_same<T, Vector>::value, T>::type getProperty(PropertyT pt, std::size_t idx = 0) const

template<typename T> inline std::enable_if<std::is_same<T, Matrix>::value, T>::type getProperty(PropertyT pt, std::size_t idx = 0) const

Property-setter methods

Set a property.

param pt: Property to set.
param val: Value to set.
param idx: Optional index for array-like properties.

return: Error code.

template<typename T> inline void setProperty(PropertyT pt, const T &val, std::size_t idx = 0, typename std::enable_if<std::is_integral<T>::value, T>::type* = 0)

template<typename T> inline void setProperty(PropertyT pt, const T &val, std::size_t idx = 0, typename std::enable_if<std::is_enum<T>::value, T>::type* = 0)

template<typename T> inline void setProperty(PropertyT pt, const T &val, std::size_t idx = 0, typename std::enable_if<std::is_floating_point<T>::value, T>::type* = 0)

inline void setProperty(PropertyT pt, const std::string &val, std::size_t idx = 0)

inline void setProperty(PropertyT pt, const SensorIDT &val, std::size_t idx = 0)

inline void setProperty(PropertyT pt, const VectorInterface &val, std::size_t idx = 0)

inline void setProperty(PropertyT pt, const MatrixInterface &val, std::size_t idx = 0)

Public Types

using PropertyT = PT

Public Functions

virtual ~PropertiesInterface() = default

virtual bool isPropertySupported(PropertyT pt) const = 0: Check if we support a particular property.

virtual bool isPropertyReadOnly(PropertyT pt, std::size_t idx = 0) const = 0

Check if a particular property is read-only.

Parameters

pt – Property to query.
idx – Optional index for array-like properties.

Returns

Return value.

Protected Functions

virtual void getPropertyImpl(PropertyT pt, int64_t &val, std::size_t idx) const = 0

virtual void setPropertyImpl(PropertyT pt, const int64_t &val, std::size_t idx) = 0

virtual void getPropertyImpl(PropertyT pt, ScalarT &val, std::size_t idx) const = 0

virtual void setPropertyImpl(PropertyT pt, const ScalarT &val, std::size_t idx) = 0

virtual void getPropertyImpl(PropertyT pt, std::string &val, std::size_t idx) const = 0

virtual void setPropertyImpl(PropertyT pt, const std::string &val, std::size_t idx) = 0

virtual void getPropertyImpl(PropertyT pt, SensorIDT &val, std::size_t idx) const = 0

virtual void setPropertyImpl(PropertyT pt, const SensorIDT &val, std::size_t idx) = 0

virtual void getPropertyImpl(PropertyT pt, Vector &val, std::size_t idx) const = 0

virtual void setPropertyImpl(PropertyT pt, const VectorInterface &val, std::size_t idx) = 0

virtual void getPropertyImpl(PropertyT pt, Matrix &val, std::size_t idx) const = 0

virtual void setPropertyImpl(PropertyT pt, const MatrixInterface &val, std::size_t idx) = 0

class SLAMAsyncTasksInterface

#include <slam.hpp>

Access to asynchronous tasks.

Subclassed by SLAMSystemInterface

Public Functions

virtual ~SLAMAsyncTasksInterface() = default

virtual IDT launchAsyncTask(TaskType task, const std::map<std::string, std::string> &params) = 0

Launch asynchronous task.

Note

This is asynchronous API, the task might start after this call returns.

Parameters

task – Type of task to launch.
params – Map of key-value pairs describing task-specific parameters.

Returns

Returned unique identifier to distinguish tasks of the same type.

virtual void cancelAsyncTask(TaskType task, IDT id) = 0

Cancel an existing asynchronous task.

Note

This is asynchronous API, the task might not be cancelled immediately.

Parameters

task – Type of task to cancel.
id – Unique identifier of the tasks to cancel.

virtual TaskStatusInterface::Ptr getTaskStatus(TaskType task, IDT id) = 0

Get task status.

Parameters

task – Type of task to check.
id – Unique identifier of the tasks to check.

class SLAMCoreInterface

#include <slam.hpp>

Core SLAM system functionality.

Subclassed by SLAMSystemInterface

Public Functions

virtual ~SLAMCoreInterface() = default

virtual void open(const char *name = nullptr) = 0

Open the SLAMcore device.

Parameters: name – Optional parameters.

virtual void openWithSession(const char *path, const char *name = nullptr) = 0

Open the SLAMcore device with preloaded session file.

Parameters

path – Path to the session file.
name – Optional parameters.

virtual void close() = 0: Close the SLAMcore device.

virtual bool isOpen() const = 0: Check if the SLAMcore device is already open.

virtual void start() = 0: Start streaming data.

virtual void stop() = 0: Stop streaming data.

virtual bool isRunning() const = 0: Check if we are streaming.

virtual bool isStreamEnabled(Stream s) const = 0

Check if a stream of data is enabled.

Parameters: s – Stream to check.

virtual void setStreamEnabled(Stream s, bool v) = 0

Enable/disable streaming of particular data.

Parameters

s – slamcore::Stream to configure.
v – True/False to enable/disable respectively

class SLAMSubsystemAccessInterface

#include <slam.hpp>

Subsystem access interface.

Subclassed by SLAMSystemInterface

Check if subsystem is supported.

virtual bool isSubsystemSupported(const SubsystemType st) const = 0

Check if the given SubsystemType is supported

Parameters: st – SubsystemType to check.

template<typename ST> inline bool isSubsystemSupported()

Get Subsystem interface.

template<typename ST> inline std::shared_ptr<const ST> getSubsystem() const

template<typename ST> inline std::shared_ptr<ST> getSubsystem()

virtual SubsystemInterface::CPtr getSubsystemImpl(const SubsystemType st) const = 0

virtual SubsystemInterface::Ptr getSubsystemImpl(const SubsystemType st) = 0

Public Functions

virtual ~SLAMSubsystemAccessInterface() = default

class SLAMSystemCallbackInterface : public SLAMSystemInterface

#include <slam.hpp>

Main object for creating, executing and interacting with the SLAM procedure. Use it as a standard device (open \(\rightarrow\) start streaming \(\rightarrow\) grab data \(\rightarrow\) close).

A standard way of getting SLAM up ‘n running would be the following. To simplify the procedure, error handling is not shown, see hello_world_all_streams.cpp for a minimal working example of this:

// Initialise the library
slamcoreInit()

// Create a system configuration
v0::SystemConfiguration cfg;

// create a SLAM System
slamcore::SLAMSystemCallbackInterface::Ptr slam = slamcore::createSLAMSystem(cfg);

// register any callbacks
slam->registerCallback<slamcore::Stream::Pose>(
 [](const slamcore::PoseInterface<slamcore::camera_clock>::CPtr& pose)
 {
   // do something with the pose!
 });
// ...

slam->open();

// enable the streams you need
slam->setStreamEnabled(slamcore::Stream::Pose, true);
// ...

slam->start();

// poll for data
while(slam->spinOnce(std::chrono::seconds(1)));

// cleanup SLAM
slam->stop();
slam->close();

// clean up the library
slamcoreDeinit();