The class to represent the component doing the 6dof tracking with SLAM algorithm on host. More...

#include <xv-sdk.h>

Public Types
enum	Mode { Edge = 0, Mixed, EdgeFusionOnHost }

using	Data = Pose const &

Public Member Functions
virtual Mode	mode () const =0
	Get #Mode. More...

virtual bool	start () override=0
	Start slam of current mode.

virtual bool	start (Mode mode)=0
	Start slam of specific mode. More...

virtual bool	reset ()=0
	Reset the 6dof tracker (SLAM) More...

virtual bool	getPose (Pose &pose, double prediction=0.)=0
	Get the current 6dof pose of the device. More...

virtual bool	getPoseAt (Pose &pose, double timestamp)=0
	Get the 6dof pose of the device at a given timestamp. More...

virtual int	registerVisualPoseCallback (std::function< void(const Pose &)> lostCallback)=0
	Register a callback called when visual SLAM compute a new unfiltered pose. More...

virtual bool	unregisterVisualPoseCallback (int callbackId)=0

virtual int	registerLostCallback (std::function< void()> lostCallback)=0
	Register a callback called when SLAM is lost. More...

virtual bool	unregisterLostCallback (int callbackId)=0

virtual int	registerStereoPlanesCallback (std::function< void(std::shared_ptr< const std::vector< Plane >>)> planeCallback)=0
	Callback to get the detected planes using stereo cameras and SLAM. More...

virtual bool	unregisterStereoPlanesCallback (int callbackId)=0

virtual bool	clearStereoPlanes ()=0

virtual int	registerTofPlanesCallback (std::function< void(std::shared_ptr< const std::vector< Plane >>)> planeCallback)=0
	Callback to get the detected planes using ToF camera and SLAM. More...

virtual bool	unregisterTofPlanesCallback (int callbackId)=0

virtual bool	clearTofPlanes ()=0

virtual int	registerMapCallback (std::function< void(std::shared_ptr< const xv::SlamMap >)> mapCallback)=0
	Callback to get the SLAM map updates. More...

virtual bool	unregisterMapCallback (int callbackId)=0

virtual bool	loadMapAndSwitchToCslam (std::streambuf &mapStream, std::function< void(int)> done_callback, std::function< void(float)> localized_on_reference_map={})=0
	Load a SLAM map and use it as an immutable reference map. More...

virtual bool	saveMapAndSwitchToCslam (std::streambuf &mapStream, std::function< void(int, int)> done_callback, std::function< void(float)> localized_on_reference_map={})=0
	Save a SLAM map and use it as an immutable reference map. More...

virtual bool	stop ()=0
	stop streaming.

virtual int	registerCallback (std::function< void(Pose const &)>)=0
	Register callback to receive data.

virtual bool	unregisterCallback (int callbackId)=0
	Unregister callback.

Detailed Description

The class to represent the component doing the 6dof tracking with SLAM algorithm on host.

For Mixed mode, callback will get the last computed SLAM pose. Callback is call on each IMU recieved because SLAM pose also use IMU for update.

Member Function Documentation

virtual bool xv::Slam::getPose	(	Pose &	pose,
		double	prediction = `0.`
	)

pure virtual

Get the current 6dof pose of the device.

The 6dof pose is the rotation and translation of the IMU frame coordinates based on the world frame coordinates. The world frame coordinates coorespond to the VLSAM map and the device coordinates is based on the IMU coordinates.

Parameters

[out]	pose	corresponding to the timestamp "now" + "prediction"
[in]	prediction	(in s) amount of prediction to use to get a pose corresponding to the future

Returns: true if ok, false else.

virtual bool xv::Slam::getPoseAt	(	Pose &	pose,
		double	timestamp
	)

pure virtual

Get the 6dof pose of the device at a given timestamp.

The 6dof pose is the rotation and translation of the IMU frame coordinates based on the world frame coordinates. The world frame coordinates coorespond to the VLSAM map and the device coordinates is based on the IMU coordinates.

Parameters

[out]	pose	result pose corresponding to the timestamp, need to be not too in the pass or too in the future
[in]	timestamp	of the wanted pose, in s based on the host clock `std::chrono::steady_clock()`

Returns: true if the pose can be returned, false else. If timestamp is too in the past or too in the future, return false.

virtual bool xv::Slam::loadMapAndSwitchToCslam	(	std::streambuf &	mapStream,
		std::function< void(int)>	done_callback,
		std::function< void(float)>	localized_on_reference_map = `{}`
	)

pure virtual

Load a SLAM map and use it as an immutable reference map.

Parameters

mapStream	the input map stream for loading the map
done_callback	When the switch is done the callback will be called. The input of the callback is the quality result (0-100) of the reference map.
localized_on_reference_map	Call the callback if the SLAM uses a reference map and is localized on the reference map. The input parameter is the threshold for the percentage [0.f,1.f] of reference map usage according to whole map (reference map and dynamic map). If SLAM is not currently using enough the reference map and the usage is below this threshold, then the callback is called with the current percentage [0.f,1.f] of 3D points from the reference map.

virtual Mode xv::Slam::mode ( ) const

pure virtual

Get #Mode.

Returns: return slam mode of this object, mode is const.

virtual int xv::Slam::registerLostCallback ( std::function< void()> lostCallback )

pure virtual

Register a callback called when SLAM is lost.

Returns: Id of the callback (used to unregister the callback).

virtual int xv::Slam::registerMapCallback ( std::function< void(std::shared_ptr< const xv::SlamMap >)> mapCallback )

pure virtual

Callback to get the SLAM map updates.

Returns: Id of the callback (used to unregister the callback).

virtual int xv::Slam::registerStereoPlanesCallback ( )

pure virtual

Callback to get the detected planes using stereo cameras and SLAM.

The vector contains planes with current planes and each plane has an ID. Between mutiple calls new planes can be added, previous planes updated or merged. If a plane disappear from the vector, it means it was merged with other.

Returns: Id of the callback (used to unregister the callback).

virtual int xv::Slam::registerTofPlanesCallback ( )

pure virtual

Callback to get the detected planes using ToF camera and SLAM.

The vector contains planes with current planes and with plane ID as key. Between mutiple calls new planes can be added, previous planes updated or merged. If a plane disappear from the vector, it means it was merged with other.

Returns: Id of the callback (used to unregister the callback).

virtual int xv::Slam::registerVisualPoseCallback ( std::function< void(const Pose &)> lostCallback )

pure virtual

Register a callback called when visual SLAM compute a new unfiltered pose.

Returns: Id of the callback (used to unregister the callback).

virtual bool xv::Slam::reset ( )

pure virtual

Reset the 6dof tracker (SLAM)

Returns: return true if well reset, else if something went wrong.

virtual bool xv::Slam::saveMapAndSwitchToCslam	(	std::streambuf &	mapStream,
		std::function< void(int, int)>	done_callback,
		std::function< void(float)>	localized_on_reference_map = `{}`
	)

pure virtual

Save a SLAM map and use it as an immutable reference map.

Parameters

mapStream	the output map stream to for writing the map
done_callback	When the switch is done the callback will be called. The input of the callback is the quality result (0-100) of the reference map.
localized_on_reference_map	Call the callback if the SLAM uses a reference map and is localized on the reference map. The input parameter is the threshold for the percentage [0.f,1.f] of reference map usage according to whole map (reference map and dynamic map). If SLAM is not currently using enough the reference map and the usage is below this threshold, then the callback is called with the current percentage [0.f,1.f] of 3D points from the reference map.

virtual bool xv::Slam::start ( Mode mode )

pure virtual

Start slam of specific mode.

Stop old mode slam(if running), switch to new mode, and then start slam of new mode.

The documentation for this class was generated from the following file:

E:/build/xvsdk/include/xv-sdk.h

Public Types

Public Member Functions

Detailed Description

Member Function Documentation