Namespace `slamcore`

namespace slamcore

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::DistortionType

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

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

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

Helper functions for slamcore::GPSQuality

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

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

static inline std::ostream &operator<<(std::ostream &os, const GPSQuality 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 \(\leftrightarrow\) BytesPerChannel

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

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

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

static inline std::size_t ImageFormatToBytesPerChannel(const ImageFormat fmt)

Helper functions for slamcore::MapChannelType

template<typename Archive> 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::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)

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::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)

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)

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::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)

Typedefs

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

template<typename ScalarT = double, int RowsT = Dynamic> using Vector = Matrix<ScalarT, RowsT, 1>

using DynamicMatrix = Matrix<double, Dynamic, Dynamic>

using DynamicVector = Vector<double, Dynamic>

template<template<typename...> class base, typename derived> using is_base_of_template = typename detail::is_base_of_template_impl<base, derived>::type

template<typename Base, typename Derived> using enable_if_is_base_of = std::enable_if<std::is_base_of<Base, Derived>::value>

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 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 MultiSessionID = GenericMultiSessionId<detail::MultiSessionIdT::Base>: Generic ID

using FrameId = GenericMultiSessionId<detail::MultiSessionIdT::Frame>: ID for a frame

using KeyFrameId = GenericMultiSessionId<detail::MultiSessionIdT::KeyFrame>: ID for a keyframe

using LandmarkId = GenericMultiSessionId<detail::MultiSessionIdT::Landmark>: Id for a landmark

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

enumerator invalid_configuration

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 StaticPose

enumerator Anchor

enumerator LIDARScan

enumerator GPSLocation

enumerator Frame

enumerator SLAMEventList

enumerator SLAMStatus

enumerator PanopticBoundingBox3DList

enumerator PanopticSegmentationResult

enumerator Biases

enumerator Count

enum class DistortionType : uint16_t

Currently supported camera distortion types

Equidistant: Equidistant model with x4 parameters [k2, k3, k4, k5] This distortion type is equivalent to the Kannala-Brandt type up to ninth-order polynomial with k1 = 1. For more information please check the following reference: J. Kannala and S. S. Brandt, “A generic camera model and calibration method for conventional, wide-angle, and fish-eye lenses,” in IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 28, no. 8, pp. 1335-1340, Aug. 2006
RadialTangential: Radial tangential model with x4 parameters [k1, k2, p1, p2]. (k1, k2) are the radial distortion parameters, while (p1, p2) are the tangential distortion parameters This distortion type is also known as the Plumb Bob model or Brown-Conrady model. For more information please check the following reference: D. C. Brown. “Lens Distortion for Close-Range Photogrammetry”, Photometric Engineering, pages 855-866, Vol. 37, No. 8, 1971
NoDistortion: Zero distortion, ideal camera lens
RadialTangential8: Radial tangential model with x8 parameters [k1, k2, k3, k4, k5, k6, p1, p2]. (k1..k6) are the radial distortion parameters, while (p1, p2) are the tangential distortion parameters. Similar to the RadialTangential model but with a higher order polynomial for approximating the radial distortion
RadialSpline3: Radial model with 6 parameters defining a B-spline with 4 equidistant knots at theta = [0 pi/6 pi/3 pi/2]

Note

The order of the distortion parameters in the configuration files is (k1, k2, p1, p2, k3, k4, k5, k6)

Values:

enumerator Equidistant

enumerator RadialTangential

enumerator NoDistortion

enumerator RadialTangential8

enumerator RadialSpline3

enumerator Count

enum class GPSQuality : EnumBaseT

GPS Quality Indicator.

Values:

enumerator NoFix

enumerator Uncorrected

enumerator DifferentiallyCorrected

enumerator Invalid

enumerator RTKFixCoordinate

enumerator RTKFloat

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 MapChannelType : EnumBaseT

Map channel types.

Values:

enumerator OccupancyProbability

enumerator Height

enumerator HeightVariance

enumerator Coverage

enumerator Count

enum class MetaDataID : EnumBaseT

Various supported MetaData variables.

Values:

enumerator NumFeatures

enumerator TrackedFeatures

enumerator DistanceTravelled

enumerator ProcessedFrameRate

enumerator TotalDroppedFrames

enumerator Count

enum class TaskType : EnumBaseT

Tasks to run.

Values:

enumerator SaveSession

enumerator Count

enum class PredefinedSemanticLabel : EnumBaseT

Values:

enumerator Unknown

enumerator Background

enumerator Person

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 FeatureCoverage2DEnabled: bool, read-only, Whether 2D mapping features are enabled

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

enumerator LowLatencyMode: bool, toggle true to enable low latency mode of operation

enumerator SessionID: int64_t, Current SessionID of the current slam run

enumerator HasLoadedSession: bool, read-only, Whether a recorded session was loaded at start

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 SmoothPose: used for PoseInterface

enumerator SLAMStatus: used for SLAMStatusInterface

enumerator PanopticSegmentationResult

enumerator PanopticBoundingBox3D

enumerator Biases

enumerator Count

enum class DataSource : EnumBaseT

Input data source.

Values:

enumerator Dataset

enumerator RealSense

enumerator External: Use the external sources registered with the registerExternalXXX methods below.

enumerator OakD

enumerator AutoDetect: Try and automatically detect camera sensor.

enumerator Android

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

enum class ReferenceFrameCategory : EnumBaseT

Enumeration of predefined reference frames

Values:

enumerator Unknown

enumerator World

enumerator Camera

enumerator IMU

enumerator Body

enumerator Odometry

enumerator LIDAR

enumerator GPS

enumerator Anchor

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 SLAMEvent : EnumBaseT

Enumerate for the SLAM transition events.

Values:

enumerator Relocalisation

enumerator LoopClosure

enumerator ImuInitialization

enumerator IntersessionLocalisation

enumerator Count

enum class TrackingStatus : EnumBaseT

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 Count

Functions

template<typename ScalarT, int LhsRows, int LhsCols, int RhsRows, int RhsCols> bool operator==(const Matrix<ScalarT, LhsRows, LhsCols> &lhs, const Matrix<ScalarT, RhsRows, RhsCols> &rhs)

template<typename ScalarT, int LhsRows, int LhsCols, int RhsRows, int RhsCols> bool operator!=(const Matrix<ScalarT, LhsRows, LhsCols> &lhs, const Matrix<ScalarT, RhsRows, RhsCols> &rhs)

inline bool operator==(const ConstTaggedObject &a, std::nullptr_t) noexcept

inline bool operator==(std::nullptr_t, const ConstTaggedObject &a) noexcept

inline bool operator!=(const ConstTaggedObject &a, std::nullptr_t) noexcept

inline bool operator!=(std::nullptr_t, const ConstTaggedObject &a) noexcept

inline std::string toString(const PredefinedSemanticLabel label)

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.

bool pointWithinMap(const Map2DInterface &map, const DynamicVector &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 DynamicVector &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<double, 3> 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.

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.

inline KeyFrameId toKeyFrameId(FrameId id)

Explicit promotion of a FrameId to a KeyFrameId

Parameters: id – Frame ID to be promoted
Returns: KeyFrameId Promoted frame ID

inline KeyFrameId toKeyFrameId(MultiSessionID id)

Explicit promotion of a MultiSessionID to a KeyFrameId

Parameters: id – Generic ID to be promoted
Returns: KeyFrameId Promoted frame ID

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)

inline std::ostream &operator<<(std::ostream &out, const Range1D &range)

inline std::ostream &operator<<(std::ostream &out, const Range2D &rect)

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

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

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

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

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

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

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

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

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

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)

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

void registerExternalSensor(const char *name, const std::shared_ptr<SensorSourceInterface> &src)

Registers a customer-provided external source of sensor data.

Must be enabled in SystemConfiguration by setting the Source field to DataSource::External. See slam.hpp.

Note

Will throw a slamcore::slam_exception on failure.

Note

Not thread safe.

Parameters

name – External sensor source name.
src – External sensor source instance.

void loadExternalSensor(const char *name, const char *pluginFile, const char *pluginConfig = nullptr)

Loads a customer-provided external sensor plugin.

Must be enabled in SystemConfiguration by setting the Source field to DataSource::External. See slam.hpp.

Note

Will throw a slamcore::slam_exception on failure.

Note

Not thread safe.

Parameters

name – External sensor source name.
pluginFile – Path to the plugin dynamic library.
pluginConfig – Optional path to a plugin-specific config file.

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

Create SLAMSystemCallbackInterface 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.

Variables

constexpr int Dynamic = -1

class BadTaggedObjectAccess : public exception: #include <tagged_object.hpp>

class BasePoseInterface: #include <base_pose.hpp>

Subclassed by PoseInterface< odometry_clock >, PoseInterface< ClockT >, StaticPoseInterface

class BiasesInterface : public MeasurementPoint<camera_clock>: #include <biases.hpp>

Representing the IMU biases.

struct BoundingBox3D: #include <bounding_box_3d.hpp>

A bounding box

struct camera_clock: #include <clocks.hpp>

struct CellCoordinates: #include <map2d_interface.hpp>

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

Convenience constant pixel accessor wrapper for ImageInterface.

struct ConstTaggedObject: #include <tagged_object.hpp>

Subclassed by TaggedObject

class EncoderInterface : public MeasurementPoint<odometry_clock>: #include <encoder.hpp>

Representing a single encoder measurement.

class EncoderListInterface: #include <encoder_list.hpp>

Representing a list of Encoder measurements.

class ErrorCodeInterface: #include <error_code.hpp>

Interface to transfer error codes.

class FixedMeasurementPoint

#include <fixed_measurement_point.hpp>

Common interface for non-temporal metadata

Subclassed by MeasurementPoint< camera_clock >, MeasurementPoint< gps_clock >, MeasurementPoint< imu_clock >, MeasurementPoint< lidar_clock >, MeasurementPoint< odometry_clock >, MeasurementPoint< ClockT >, StaticPoseInterface

class FrameInterface: #include <frame.hpp>

Interface for a Frame, a composition of an image and a region of interest

class FrameSyncInterface: #include <frame_sync.hpp>

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

template<detail::MultiSessionIdT SessionType> struct GenericMultiSessionId: #include <multi_session_id.hpp>

ID for objects that can come from different sessions.

template<> Base >: #include <multi_session_id.hpp>

template<> KeyFrame > : public GenericMultiSessionId< detail::MultiSessionIdT::Frame >: #include <multi_session_id.hpp>

struct gps_clock: #include <clocks.hpp>

class GPSLocationInterface : public MeasurementPoint<gps_clock>: #include <gps_location.hpp>

GPS location sample.

class HeightMappingSubsystemInterface : public virtual Map2DAccessInterface, public SubsystemInterface: #include <height_mapping.hpp>

Subsystem for accessing height maps.

struct host_clock: #include <clocks.hpp>

Defining our own host_clock lets us pretend to have nanosecond resolution everywhere.

template<ImageFormat fmt> struct ImageFormatTraits

#include <image.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 <image.hpp>

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

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

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

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

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

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

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

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

class ImageInterface : public MeasurementPoint<camera_clock>: #include <image.hpp>

Representing a single video frame.

struct imu_clock: #include <clocks.hpp>

class IMUListInterface: #include <imu_list.hpp>

Representing a list of IMU sensor measurements.

class IMUSensorDataInterface : public MeasurementPoint<imu_clock>: #include <imu_sensor_data.hpp>

Representing a single accelerometer/gyroscope/magnetometer measurement.

class IMUTripletInterface: #include <imu_triplet.hpp>

Representing an IMU measurement triplet.

class IMUTripletListInterface: #include <imu_triplet_list.hpp>

Representing a list of IMU triplet measurements.

class LandmarkInterface: #include <landmark.hpp>

Representing a single landmark.

struct lidar_clock: #include <clocks.hpp>

class LIDARScanInterface : public MeasurementPoint<lidar_clock>: #include <lidar_scan.hpp>

Complete LIDAR scan.

class LogMessageInterface: #include <logging.hpp>

Interface to a log message

class Map2DAccessInterface

#include <map2d_interface.hpp>

Fetch interface to access 2D map updates

Subclassed by HeightMappingSubsystemInterface

class Map2DInterface : public MeasurementPoint<camera_clock>: #include <map2d.hpp>

Interface to a 2D map.

class MapChannel2DInterface: #include <map_channel2d.hpp>

Interface to a 2D map channel.

template<typename ScalarT = double, int RowsT = Dynamic, int ColsT = Dynamic> class Matrix : public Dimensions<Dynamic, Dynamic>

#include <matrix.hpp>

A column Major data representation of a matrix.

Template Parameters

ScalarT –
RowsT –
ColsT –

template<typename ClockT> class MeasurementPoint : public FixedMeasurementPoint

#include <measurement_point.hpp>

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

Subclassed by PoseInterface< ClockT >, VelocityInterface< ClockT >

class MetaDataInterface: #include <meta_data.hpp>

Representing metadata.

class MultiFrameInterface: #include <multi_frame.hpp>

Representing a set of video frames.

struct odometry_clock: #include <clocks.hpp>

class OptimisedTrajectorySubsystemInterface : public SubsystemInterface

#include <optimised_trajectory.hpp>

Subsystem for accessing trajectories.

A common way of using this subsystem would be as follows:

// Get subsystem from the SLAM system
const auto subsystem = slam->getSubsystem<slamcore::OptimmisedTrajectorySubsystemInterface>();

// Fetch most recent trajectories
subsystem->fetch();

// You can retrieve some data
const auto optimisedTrajectory = subsystem->getTrajectory();

Note

There are some positioning modes where the optimised trajectory is not produced. In these cases, getTrajectory will return nullptr.

Note

Not thread safe.

class PanopticBoundingBox3D : public MeasurementPoint<camera_clock>: #include <panoptic_bounding_box_3d.hpp>

A bounding box which represents a single object

class PanopticBoundingBox3DList: #include <panoptic_bounding_box_3d_list.hpp>

struct PanopticLabel: #include <panoptic_class_labels.hpp>

class PanopticSegmentationResultInterface: #include <panoptic_segmentation_result.hpp>

class PanopticSegmentationRunnerInterface: #include <panoptic_segmentation_runner.hpp>

class PanopticSegmentationSubsystemInterface : public SubsystemInterface: #include <panoptic_segmentation.hpp>

class PointCloudInterface : public MeasurementPoint<camera_clock>: #include <point_cloud.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 BasePoseInterface, public slamcore::MeasurementPoint<ClockT>

#include <pose.hpp>

Representing the 3D pose.

Note

Covariance information is not supported yet.

Subclassed by PoseWriteInterface< ClockT >

template<typename ClockT> class PoseListInterface: #include <pose_list.hpp>

Representing the trajectory (list of poses).

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

Representing the writable matrix object.

template<typename PT> class PropertiesInterface

#include <properties_interface.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.

class Range1D: #include <range.hpp>

Captures the half-open interval [min, max)

class Range2D: #include <range.hpp>

Captures the half-open 2D interval [(x_min, y_min), (x_max, y_max))

template<typename ContainerT> class RangeIterator: #include <range_iterator.hpp>

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

class ReferenceFrame: #include <reference_frame.hpp>

Represent a coordinate system frame of reference

struct SemanticLabel: #include <panoptic_class_labels.hpp>

class SensorsInfoInterface : public SubsystemInterface: #include <sensors_info.hpp>

Subsystem to access information regarding sensors

class SensorSourceInterface

#include <sensor_source_interface.hpp>

Customers wishing to feed sensor data to Slamcore SLAM must implement the following lifecycle interface together with one or more of the above sensor data interfaces.

Slamcore will call into the interfaces according to this lifecycle flowchart:

      +------------> open()
      |                |
      |                v
      |        registerCallback(...)
      |                |
      |                v
      |   +--------> start()
      |   |            |
      |   |           ... // implementer invokes data callbacks
      |   |            |
      |   |            v
      |   +--------- stop()
      |                |
      |                v
      |        registerCallback(nullptr) // deregister
      |                |
      |                v
      +------------- close()

Slamcore will invoke lifecycle methods SensorSourceInterface::open, SensorSourceInterface::close, SensorSourceInterface::start, SensorSourceInterface::stop, and <sensor interface at hand>::registerCallback from a single thread.

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

Slamcore exception type.

class SLAMAsyncTasksInterface

#include <slam_async_tasks.hpp>

Access to asynchronous tasks.

Subclassed by SLAMSystemInterface

class SLAMCoreInterface

#include <slam_core.hpp>

Core SLAM system functionality.

Subclassed by SLAMSystemInterface

class SLAMEventListInterface: #include <slam_event_list.hpp>

SLAM Event List Interface.

class SLAMStatusInterface : public MeasurementPoint<camera_clock>: #include <slam_status.hpp>

Representing the status of SLAM.

class SLAMSubsystemAccessInterface

#include <slam_subsystem_access.hpp>

Subsystem access interface.

Subclassed by SLAMSystemInterface

class SLAMSystemCallbackInterface : public SLAMSystemInterface

#include <slam_system_callback.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->spin(std::chrono::seconds(1)));

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

// clean up the library
slamcoreDeinit();

Namespace slamcore

Namespace `slamcore`