Classes
struct	Config
	SLAM configuration parameters. More...

struct	Landmark
	Landmark with additional information. More...

struct	Landmarks

struct	LocalizationSettings
	Localization settings for use in LocalizeInMap. More...

struct	LocalizerProbe
	Localizer probe. More...

struct	LocalizerProbes
	Localizer probes array. More...

struct	Metrics
	Metrics. More...

struct	PoseGraph
	Pose graph. More...

struct	PoseGraphEdge
	Pose graph edge. More...

struct	PoseGraphNode
	Pose graph node. More...

Public Types
enum class	DataLayer : uint8_t { Landmarks , Map , LoopClosure , PoseGraph , LocalizerProbes , LocalizerMap , LocalizerLandmarks , LocalizerLoopClosure , Max }
	Data layer for SLAM. More...

using	ImageSet = std::vector< Image >
	Image set.

using	LocalizationCallback = std::function< void(const Result< Pose > &result)>
	Localization callback, may be called in a separate thread.

Public Member Functions
	Slam (const Rig &rig, const std::vector< uint8_t > &primary_cameras, const Config &config=GetDefaultConfig())

	Slam (Slam &&other) noexcept

	~Slam ()
	Destructor.

Pose	Track (const Odometry::State &state, const Pose *gt_pose=nullptr)

void	SetSlamPose (const Pose &pose)

void	GetAllSlamPoses (std::vector< PoseStamped > &poses, uint32_t max_poses_count=0) const

void	SaveMap (const std::string_view &folder_name, std::function< void(bool success)> callback) const

void	LocalizeInMap (const std::string_view &folder_name, const Pose &guess_pose, const ImageSet &images, LocalizationSettings settings, LocalizationCallback callback)

void	GetSlamMetrics (Metrics &metrics) const

void	GetLoopClosurePoses (std::vector< PoseStamped > &poses) const

void	EnableReadingData (DataLayer layer, uint32_t max_items_count)

void	DisableReadingData (DataLayer layer)

std::shared_ptr< const Landmarks >	ReadLandmarks (DataLayer layer)

std::shared_ptr< const PoseGraph >	ReadPoseGraph ()

std::shared_ptr< const LocalizerProbes >	ReadLocalizerProbes ()

Static Public Member Functions
static Config	GetDefaultConfig ()

static void	MergeMaps (const Rig &rig, const std::vector< std::string_view > &databases, const std::string_view &output_folder)

Detailed Description

Simultaneous Localization and Mapping (SLAM)

Class Documentation

◆ cuvslam::Slam::Config

struct cuvslam::Slam::Config

SLAM configuration parameters.

Class Members
string_view	map_cache_path	If empty, map is kept in memory only. Else, map is synced to disk (LMDB) at this path, allowing large-scale maps; if the path already exists it will be overwritten. To load an existing map, use LocalizeInMap(). To save map, use SaveMap().
bool	use_gpu	Enable GPU use for SLAM.
bool	sync_mode	Synchronous mode (does not run a separate work thread if true)
bool	enable_reading_internals	Enable reading internal data from SLAM (Pose Graph, Loop Closures, Landmarks, etc.). Additionally separate data layers are enabled by `EnableReadingData`.
bool	planar_constraints	Planar constraints. SLAM poses will be modified so that the camera moves on a horizontal plane.
bool	gt_align_mode	Special SLAM mode for visual map building in case ground truth is present. Not realtime, no loop closure, no map global optimization, SBA must be in main thread.
float	map_cell_size	Size of map cell. Default is 0 (the size will be calculated from the camera baseline).
float	max_landmarks_distance	Maximum distance from camera to landmark for inclusion in map. Default is 100 meters.
uint32_t	max_map_size	Maximum number of poses in SLAM pose graph. 300 is suitable for real-time mapping. The special value 0 means unlimited pose-graph.
uint32_t	throttling_time_ms	Minimum time interval between loop closure events in milliseconds. 1000 is suitable for real-time mapping.

◆ cuvslam::Slam::Landmark

struct cuvslam::Slam::Landmark

Landmark with additional information.

Class Members
uint64_t	id	identifier
float	weight	weight (ignored now)
Vector3f	coords	x, y, z in meters in world frame

◆ cuvslam::Slam::Landmarks

struct cuvslam::Slam::Landmarks

Landmarks array

Class Members
int64_t	timestamp_ns	timestamp of landmarks in nanoseconds; corresponds to the timestamp of the frame where the landmarks were observed
vector< Landmark >	landmarks	landmarks list

◆ cuvslam::Slam::LocalizationSettings

struct cuvslam::Slam::LocalizationSettings

Localization settings for use in LocalizeInMap.

Class Members
float	horizontal_search_radius	horizontal search radius in meters
float	vertical_search_radius	vertical search radius in meters
float	horizontal_step	horizontal step in meters
float	vertical_step	vertical step in meters
float	angular_step_rads	angular step around vertical axis in radians
bool	enable_reading_internals	enable reading internal data from SLAM

◆ cuvslam::Slam::LocalizerProbe

struct cuvslam::Slam::LocalizerProbe

Localizer probe.

Debug data from localizer for internal use.

Class Members
uint64_t	id	probe identifier
Pose	guess_pose	input hint
Pose	exact_result_pose	exact pose if localizer success
float	weight	input weight
float	exact_result_weight	result weight
bool	solved	true for solved, false for unsolved

◆ cuvslam::Slam::LocalizerProbes

struct cuvslam::Slam::LocalizerProbes

Localizer probes array.

Debug data from localizer for internal use.

Class Members
int64_t	timestamp_ns	timestamp of localizer try in nanoseconds
float	size	size of search area in meters
vector< LocalizerProbe >	probes	list of probes

◆ cuvslam::Slam::Metrics

struct cuvslam::Slam::Metrics

Metrics.

Class Members
int64_t	timestamp_ns	timestamp of these measurements (in nanoseconds)
bool	lc_status	loop closure status
bool	pgo_status	pose graph optimization status
uint32_t	lc_selected_landmarks_count	Count of Landmarks Selected.
uint32_t	lc_tracked_landmarks_count	Count of Landmarks Tracked.
uint32_t	lc_pnp_landmarks_count	Count of Landmarks in PNP.
uint32_t	lc_good_landmarks_count	Count of Landmarks in LC.

◆ cuvslam::Slam::PoseGraph

struct cuvslam::Slam::PoseGraph

Pose graph.

Class Members
int64_t	timestamp_ns	timestamp of the pose graph in nanoseconds
vector< PoseGraphNode >	nodes	nodes list
vector< PoseGraphEdge >	edges	edges list

◆ cuvslam::Slam::PoseGraphEdge

struct cuvslam::Slam::PoseGraphEdge

Pose graph edge.

Class Members
uint64_t	node_from	node id
uint64_t	node_to	node id
Pose	transform	transform
PoseCovariance	covariance	covariance

◆ cuvslam::Slam::PoseGraphNode

struct cuvslam::Slam::PoseGraphNode

Pose graph node.

Class Members
uint64_t	id	node identifier
Pose	node_pose	node pose

Member Enumeration Documentation

◆ DataLayer

enum cuvslam::Slam::DataLayer : uint8_t

strong

Data layer for SLAM.

Enumerator
Landmarks	Landmarks that are visible in the current frame.
Map	Landmarks of the map.
LoopClosure	Map's landmarks that are visible in the last loop closure event.
PoseGraph	Pose Graph.
LocalizerProbes	Localizer probes.
LocalizerMap	Landmarks of the Localizer map (opened database)
LocalizerLandmarks	Landmarks that are visible in the localization.
LocalizerLoopClosure	Landmarks that are visible in the final loop closure of the localization.

Constructor & Destructor Documentation

◆ Slam() [1/2]

cuvslam::Slam::Slam	(	const Rig &	rig,
		const std::vector< uint8_t > &	primary_cameras,
		const Config &	config = `GetDefaultConfig()`
	)

Construct a SLAM instance with rig and primary cameras

Parameters

[in]	rig	Camera rig configuration
[in]	primary_cameras	Vector of primary camera indices
[in]	config	SLAM configuration

Exceptions

std::runtime_error if SLAM initialization fails

◆ Slam() [2/2]

cuvslam::Slam::Slam ( Slam && other )

noexcept

Move constructor

Parameters

[in] other other SLAM instance

Member Function Documentation

◆ GetDefaultConfig()

static Config cuvslam::Slam::GetDefaultConfig ( )

inlinestatic

Get default configuration

Returns: default configuration

◆ Track()

Pose cuvslam::Slam::Track	(	const Odometry::State &	state,
		const Pose *	gt_pose = `nullptr`
	)

Process tracking results from Odometry::Track. This should be called after each successful tracking.

Parameters

[in]	state	Odometry state containing all tracking data
[in]	gt_pose	Optional ground truth pose. Should be provided if `gt_align_mode` is enabled, otherwise should be nullptr.

See also: Odometry::Track

Exceptions

std::invalid_argument if gt_pose is passed incorrectly

Returns: On success Pose contains rig pose estimated by SLAM

◆ SetSlamPose()

void cuvslam::Slam::SetSlamPose ( const Pose & pose )

Set rig pose estimated by a user.

Parameters

[in] pose rig pose estimated by a user

◆ GetAllSlamPoses()

void cuvslam::Slam::GetAllSlamPoses	(	std::vector< PoseStamped > &	poses,
		uint32_t	max_poses_count = `0`
	)		const

Get all SLAM poses for each frame.

Parameters

[in]	max_poses_count	maximum number of poses to return
[out]	poses	Vector of poses with timestamps This call could be blocked by slam thread.

◆ SaveMap()

void cuvslam::Slam::SaveMap	(	const std::string_view &	folder_name,
		std::function< void(bool success)>	callback
	)		const

Save SLAM database (map) to folder asynchronously. This folder will be created, if it does not exist. Contents of the folder will be overwritten.

Parameters

[in]	folder_name	Folder name, where SLAM database (map) will be saved
[in]	callback	Callback function to be called when save is complete, may be called in a separate thread

◆ LocalizeInMap()

void cuvslam::Slam::LocalizeInMap	(	const std::string_view &	folder_name,
		const Pose &	guess_pose,
		const ImageSet &	images,
		LocalizationSettings	settings,
		LocalizationCallback	callback
	)

Localize in the existing database (map) asynchronously. Finds the position of the camera in existing SLAM database (map). If successful, moves the SLAM pose to the found position.

Parameters

[in]	folder_name	Folder name, which stores saved SLAM database (map)
[in]	guess_pose	Pointer to the proposed pose, where the robot might be
[in]	images	Observed images. Will be used if Config::slam_sync_mode = true
[in]	settings	Localization settings
[in]	callback	Callback function to be called when localization is complete, may be called in a separate thread.

Note: Errors will be reported in the callback.

◆ GetSlamMetrics()

void cuvslam::Slam::GetSlamMetrics ( Metrics & metrics ) const

Get SLAM metrics.

Parameters

[out] metrics SLAM metrics

◆ GetLoopClosurePoses()

void cuvslam::Slam::GetLoopClosurePoses ( std::vector< PoseStamped > & poses ) const

Get list of last 10 loop closure poses with timestamps.

Parameters

[out] poses Vector of poses with timestamps

◆ EnableReadingData()

void cuvslam::Slam::EnableReadingData	(	DataLayer	layer,
		uint32_t	max_items_count
	)

Enable reading data layer.

Parameters

[in]	layer	Data layer to enable/disable
[in]	max_items_count	Maximum number of items to allocate in the layer

◆ DisableReadingData()

void cuvslam::Slam::DisableReadingData ( DataLayer layer )

Disable reading data layer.

Parameters

[in] layer Data layer to disable

◆ ReadLandmarks()

std::shared_ptr<const Landmarks> cuvslam::Slam::ReadLandmarks ( DataLayer layer )

Read landmarks from a given data layer. Enabled by EnableReadingData.

Parameters

[in] layer Data layer to read

Returns: Landmarks

◆ ReadPoseGraph()

std::shared_ptr<const PoseGraph> cuvslam::Slam::ReadPoseGraph ( )

Read pose graph. Enabled by EnableReadingData(DataLayer::PoseGraph).

Returns: Pose graph

◆ ReadLocalizerProbes()

std::shared_ptr<const LocalizerProbes> cuvslam::Slam::ReadLocalizerProbes ( )

Read localizer probes. Enabled by EnableReadingData(DataLayer::LocalizerProbes).

Debug data from localizer for internal use.

Returns: Localizer probes

◆ MergeMaps()

static void cuvslam::Slam::MergeMaps	(	const Rig &	rig,
		const std::vector< std::string_view > &	databases,
		const std::string_view &	output_folder
	)

static

Merge existing maps into one map.

Parameters

[in]	rig	Camera rig configuration
[in]	databases	Input array of directories with existing databases
[in]	output_folder	Directory to save output database

Exceptions

std::runtime_error if merge fails

See also: Rig

Classes

Public Types

Public Member Functions

Static Public Member Functions

Detailed Description

Class Documentation

◆ cuvslam::Slam::Config

◆ cuvslam::Slam::Landmark

◆ cuvslam::Slam::Landmarks

◆ cuvslam::Slam::LocalizationSettings

◆ cuvslam::Slam::LocalizerProbe

◆ cuvslam::Slam::LocalizerProbes

◆ cuvslam::Slam::Metrics

◆ cuvslam::Slam::PoseGraph

◆ cuvslam::Slam::PoseGraphEdge

◆ cuvslam::Slam::PoseGraphNode

Member Enumeration Documentation

◆ DataLayer

Constructor & Destructor Documentation

◆ Slam() [1/2]

◆ Slam() [2/2]

Member Function Documentation

◆ GetDefaultConfig()

◆ Track()

◆ SetSlamPose()

◆ GetAllSlamPoses()

◆ SaveMap()

◆ LocalizeInMap()

◆ GetSlamMetrics()

◆ GetLoopClosurePoses()

◆ EnableReadingData()

◆ DisableReadingData()

◆ ReadLandmarks()

◆ ReadPoseGraph()

◆ ReadLocalizerProbes()

◆ MergeMaps()