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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 class SensorType : EnumBaseT 

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 class ImageFormat : EnumBaseT 

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 class MetaDataID : EnumBaseT 

Various supported MetaData variables.

Values:

enumerator TrackingStatus

enumerator NumFeatures

enumerator TrackedFeatures

enumerator DistanceTravelled

enumerator ProcessedFrameRate

enumerator TotalDroppedFrames

enumerator Count

enum class 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 class PositioningMode : EnumBaseT 

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 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 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 ImageFormatTraits<ImageFormat::Mono_F>

#include <types.hpp>

Public Types

using ChannelType = float

Public Static Attributes

static constexpr std::size_t Channels = 1

template<> struct 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 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 ImageFormatTraits<ImageFormat::RGB_F>

#include <types.hpp>

Public Types

using ChannelType = float

Public Static Attributes

static constexpr std::size_t Channels = 3

template<> struct ImageFormatTraits<ImageFormat::RGBA_F>

#include <types.hpp>

Public Types

using ChannelType = float

Public Static Attributes

static constexpr std::size_t Channels = 4

template<> struct 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 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 class SensorType : EnumBaseT 

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 class ImageFormat : EnumBaseT 

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 class MetaDataID : EnumBaseT 

Various supported MetaData variables.

Values:

enumerator TrackingStatus

enumerator NumFeatures

enumerator TrackedFeatures

enumerator DistanceTravelled

enumerator ProcessedFrameRate

enumerator TotalDroppedFrames

enumerator Count

enum class 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 class PositioningMode : EnumBaseT 

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 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

Subclassed by DummyReferenceFrame

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