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Namespace slamcore

namespace slamcore

Main namespace for the SLAMcore public API

Internal error_code infrastructure.

static inline std::error_code make_error_code(errc e)

static inline std::error_condition make_error_condition(errc e)

Helper functions for slamcore::LogSeverity

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

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

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

Helper functions for slamcore::ObjectType

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

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

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

Helper functions for slamcore::TaskType

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

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

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

Helper functions for slamcore::TaskStatusInterface::

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

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

static inline std::ostream &operator<<(std::ostream &os, const TaskStatusInterface::TaskState &obj)

Helper functions for slamcore::MapChannelType

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

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

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

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

std::string getVersion(): Version

std::string getBuildVersion(): Build version

std::string getBuildType(): Build type

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 functions for slamcore::SubsystemType

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

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

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

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 host_clock = std::chrono::system_clock

Declaring a host clock allows us to replace it with steady_clock if necessary.

Todo:: do we need a strong type rather than alias?

using camera_timestamp = camera_clock::time_point

using imu_timestamp = imu_clock::time_point

using gps_timestamp = gps_clock::time_point

using odometry_timestamp = odometry_clock::time_point

using lidar_timestamp = lidar_clock::time_point

using host_timestamp = host_clock::time_point

using camera_duration = camera_clock::duration

using imu_duration = imu_clock::duration

using gps_duration = gps_clock::duration

using odometry_duration = odometry_clock::duration

using lidar_duration = lidar_clock::duration

using host_duration = odometry_clock::duration

using LogCallbackT = std::function<void(const LogMessageInterface&)>: Log callback signature.

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 errc

SLAMcore specific error codes. For typical system ones look for std::errc enum.

Values:

enumerator hardware_problem

enumerator device_not_open

enumerator device_already_open

enumerator device_not_running

enumerator device_already_running

enumerator not_initialized_yet

enumerator initialization_failure

enumerator input_data_problem

enumerator compression_format_not_supported

enumerator stream_not_supported

enumerator property_not_supported

enumerator property_is_read_only

enumerator wrong_type_for_property

enumerator unhandled_exception

enumerator no_odometry_listener

enumerator end_of_dataset

enumerator end_of_data

enumerator invalid_subsystem

enum class LogSeverity : EnumBaseT

SLAMcore log severity levels

Values:

enumerator Info

enumerator Warning

enumerator Error

enumerator Fatal

enumerator Count

enum class ObjectType : EnumBaseT

Object types. For every one of these enum cases there is a corresponding <enum-name>Interface class.

Values:

enumerator ErrorCode

enumerator Vector

enumerator Matrix

enumerator PoseCam

enumerator PoseIMU

enumerator PoseOdom

enumerator PoseListCam

enumerator PoseListIMU

enumerator PoseListOdom

enumerator VelocityCam

enumerator VelocityIMU

enumerator VelocityOdom

enumerator IMUSensorData

enumerator IMUList

enumerator IMUTriplet

enumerator IMUTripletList

enumerator Image

enumerator MultiFrame

enumerator Encoder

enumerator EncoderList

enumerator Landmark

enumerator SparseMap

enumerator FrameSync

enumerator MetaData

enumerator TaskStatus

enumerator MapChannel2D

enumerator Map2D

enumerator PointCloud

enumerator TrackingStatusList

enumerator Count

enum class TaskType : EnumBaseT

Tasks to run.

Values:

enumerator SaveSession

enumerator Count

enum class MapChannelType : EnumBaseT

Map channel types.

Values:

enumerator OccupancyProbability

enumerator Height

enumerator HeightVariance

enumerator Count

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

enum class SubsystemType : EnumBaseT

Subsystem types. For every one of these enum cases there is a corresponding <enum-name>Interface class.

Values:

enumerator CameraSensorsInfo

enumerator MobileRobot

enumerator HeightMapping

enumerator Trajectory

enumerator Count

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

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.

void slamcoreInit(LogSeverity severity = LogSeverity::Count, LogCallbackT callback = nullptr)

Create SLAMSystemPollingInterface instance. Initialise SLAMcore API.

A callback can optionally be specified to be notified of log messages with severity greater or equal than the specified value.

The log callback implementation must guarantee its own thread-safety, i.e. it might be invoked, concurrently, from arbitrary threads.

The lifetime of the callback must be guaranteed until the call to slamcore::slamcoreDeinit().

Note

Not thread safe.

void slamcoreDeinit(): Deinitialise SLAMcore API.

Note

Not thread safe.

std::unique_ptr<SLAMSystemCallbackInterface> createSLAMSystem(const v0::SystemConfiguration &cfg, const Version &v = slamcore::getCurrentSDKVersion())

Create slamcore::SLAMSystemInterface instance.

Note

Not thread safe.

Parameters

cfg – The configuration for the system.
v – The SDK version, used internally.

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)

static inline std::ostream &operator<<(std::ostream &os, const Version &version)

void setLogCallback(LogSeverity severity, LogCallbackT callback)

const char * __attribute__ ((__used__)) SLAMCORE_SDK_VERSION_GIT

Variables

static bool s_init = false

struct camera_clock: #include <clocks.hpp>

class CameraSensorsInfoInterface : public SubsystemInterface: #include <subsystems.hpp>

Subsystem to access factory camera calibration.

struct CellCoordinates: #include <helpers.hpp>

template<class T> class ConstImageView: #include <const_image_view.hpp>

Convenience constant pixel accessor wrapper for ImageInterface.

class DummyReferenceFrame : public ReferenceFrameInterface

class EncoderInterface : public ObjectInterface, public virtual MeasurementPointInterface<odometry_clock>: #include <objects.hpp>

Representing a single encoder measurement.

class EncoderListInterface : public ObjectInterface: #include <objects.hpp>

Representing a list of Encoder measurements.

class ErrorCodeInterface : public ObjectInterface: #include <objects.hpp>

Interface to transfer error codes.

class FrameSyncInterface : public ObjectInterface: #include <objects.hpp>

Frame sync token object. Received at the beginning of new frame.

struct gps_clock: #include <clocks.hpp>

class HeightMappingSubsystemInterface : public SubsystemInterface: #include <subsystems.hpp>

Subsystem for accessing height maps.

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>

template<> Mono_32 >: #include <types.hpp>

template<> Mono_64 >: #include <types.hpp>

template<> Mono_8 >: #include <types.hpp>

template<> Mono_F >: #include <types.hpp>

template<> RGB_8 >: #include <types.hpp>

template<> RGB_F >: #include <types.hpp>

template<> RGBA_8 >: #include <types.hpp>

template<> RGBA_F >: #include <types.hpp>

class ImageInterface : public ObjectInterface, public virtual MeasurementPointInterface<camera_clock>: #include <objects.hpp>

Representing a single video frame.

struct imu_clock: #include <clocks.hpp>

class IMUListInterface : public ObjectInterface: #include <objects.hpp>

Representing a list of IMU sensor measurements.

class IMUSensorDataInterface : public ObjectInterface, public virtual MeasurementPointInterface<imu_clock>: #include <objects.hpp>

Representing a single accelerometer/gyroscope/magnetometer measurement.

class IMUTripletInterface : public ObjectInterface: #include <objects.hpp>

Representing an IMU measurement triplet.

class IMUTripletListInterface : public ObjectInterface: #include <objects.hpp>

Representing a list of IMU triplet measurements.

class LandmarkInterface : public ObjectInterface: #include <objects.hpp>

Representing a single landmark.

struct lidar_clock: #include <clocks.hpp>

class LogMessageInterface: #include <logging.hpp>

Interface to a log message

class Map2DInterface : public ObjectInterface, public virtual MeasurementPointInterface<camera_clock>: #include <objects.hpp>

Interface to a 2D map.

class MapChannel2DInterface : public ObjectInterface: #include <objects.hpp>

Interface to a 2D map channel.

class Matrix : public MatrixInterface: #include <objects.hpp>

Simple matrix to adapt std::vector to MatrixInterface.

class MatrixInterface : public ObjectInterface

#include <objects.hpp>

Representing the matrix object.

Subclassed by Matrix

template<typename ClockT> class MeasurementPointInterface

#include <objects.hpp>

Common interface for measurement data (e.g. images or IMU samples).

Subclassed by PoseInterface< ClockT >, VelocityInterface< ClockT >

class MetaDataInterface : public ObjectInterface: #include <objects.hpp>

Representing metadata.

class MobileRobotSubsystemInterface : public SubsystemInterface: #include <subsystems.hpp>

Subsystem for feeding mobile robots wheel odometry.

class MultiFrameInterface : public ObjectInterface: #include <objects.hpp>

Representing a set of video frames.

struct MultiSessionID: #include <types.hpp>

ID for objects that can come from different sessions.

class ObjectInterface

#include <objects.hpp>

Common interface for all the objects - enables runtime polymorphism.

Subclassed by PoseInterface< odometry_clock >, EncoderInterface, EncoderListInterface, ErrorCodeInterface, FrameSyncInterface, ImageInterface, IMUListInterface, IMUSensorDataInterface, IMUTripletInterface, IMUTripletListInterface, LandmarkInterface, Map2DInterface, MapChannel2DInterface, MatrixInterface, MetaDataInterface, MultiFrameInterface, PointCloudInterface, PoseInterface< ClockT >, PoseListInterface< ClockT >, SparseMapInterface, TaskStatusInterface, TrackingStatusListInterface, VectorInterface, VelocityInterface< ClockT >

struct odometry_clock: #include <clocks.hpp>

class PointCloudInterface : public ObjectInterface, public virtual MeasurementPointInterface<camera_clock>: #include <objects.hpp>

Interface to point cloud data. A point cloud is a linear list of 3D points. The reference coordinate frame of the point cloud is specified via the measurement point interface getReferenceFrame().

template<typename ClockT> class PoseInterface : public ObjectInterface, public virtual slamcore::MeasurementPointInterface<ClockT>

#include <objects.hpp>

Representing the 3D pose.

Note

Covariance information is not supported yet.

Subclassed by PoseWriteInterface< ClockT >

template<typename ClockT> class PoseListInterface : public ObjectInterface: #include <objects.hpp>

Representing the trajectory (list of poses).

template<typename ClockT> class PoseWriteInterface : public slamcore::PoseInterface<ClockT>: #include <objects.hpp>

Representing the writable matrix object.

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.

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 ContainerT> class RangeIterator: #include <types.hpp>

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

struct ReferenceFrameInterface

#include <types.hpp>

Interface representing a coordinate system frame of reference

Subclassed by DummyReferenceFrame

class slam_exception : public system_error: #include <errors.hpp>

SLAMcore exception type.

class SLAMAsyncTasksInterface

#include <slam.hpp>

Access to asynchronous tasks.

Subclassed by SLAMSystemInterface

class SLAMCoreInterface

#include <slam.hpp>

Core SLAM system functionality.

Subclassed by SLAMSystemInterface

class SLAMSubsystemAccessInterface

#include <slam.hpp>

Subsystem access interface.

Subclassed by SLAMSystemInterface

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();