aurora_pubsdk_objects.h

/*
 *  SLAMTEC Aurora
 *  Copyright 2013 - 2024 SLAMTEC Co., Ltd.
 *
 *  http://www.slamtec.com
 *
 *  Aurora Remote SDK
 *  Data Objects
 *
 */
 
 
#pragma once
typedef void* slamtec_aurora_sdk_session_handle_t;
 
typedef void* slamtec_aurora_sdk_mapstorage_session_handle_t;
 
typedef void* slamtec_aurora_sdk_occupancy_grid_2d_handle_t;
 
 
static inline int slamtec_aurora_sdk_is_valid_handle(void* handle) {
    return handle != NULL;
}
 
 
typedef struct _slamtec_aurora_sdk_version_info_t
{
    const char* sdk_name; 
 
    const char* sdk_version_string;
 
    const char* sdk_build_time;
 
    uint32_t sdk_feature_flags;
} slamtec_aurora_sdk_version_info_t;
 
 
typedef struct _slamtec_aurora_sdk_session_config_t
{
    uint32_t version;
 
    uint32_t reserved; // must be 0
} slamtec_aurora_sdk_session_config_t;
 
 
typedef struct _slamtec_aurora_sdk_connection_info_t
{
    char protocol_type[16]; //null-terminated string
 
    char address[64]; // null-terminated string
 
    uint16_t port; 
} slamtec_aurora_sdk_connection_info_t;
 
 
typedef struct _slamtec_aurora_sdk_server_connection_info_t
{
    // multiple connection method of a server can be supported
    // for example, a server can support both tcp and udp
    // or a server can support both ipv4 and ipv6
 
    // the sdk will try to connect to the server with the first connection method
    slamtec_aurora_sdk_connection_info_t connection_info[8];
 
    uint32_t connection_count;
} slamtec_aurora_sdk_server_connection_info_t;
 
// -- map storage related
 
typedef uint32_t slamtec_aurora_sdk_mapstorage_session_type_t;
 
 
enum slamtec_aurora_sdk_mapstorage_session_type_types {
    SLAMTEC_AURORA_SDK_MAPSTORAGE_SESSION_TYPE_UPLOAD = 0,
    SLAMTEC_AURORA_SDK_MAPSTORAGE_SESSION_TYPE_DOWNLOAD = 1,
};
 
 
enum slamtec_aurora_sdk_mapstorage_session_status_flags_t {
    SLAMTEC_AURORA_SDK_MAPSTORAGE_SESSION_STATUS_FINISHED = 2,
    SLAMTEC_AURORA_SDK_MAPSTORAGE_SESSION_STATUS_WORKING = 1,
    SLAMTEC_AURORA_SDK_MAPSTORAGE_SESSION_STATUS_IDLE = 0,
    SLAMTEC_AURORA_SDK_MAPSTORAGE_SESSION_STATUS_FAILED = -1,
    SLAMTEC_AURORA_SDK_MAPSTORAGE_SESSION_STATUS_ABORTED = -2,
    SLAMTEC_AURORA_SDK_MAPSTORAGE_SESSION_STATUS_REJECTED = -3,
    SLAMTEC_AURORA_SDK_MAPSTORAGE_SESSION_STATUS_TIMEOUT = -4,
};
 
typedef struct _slamtec_aurora_sdk_mapstorage_session_status_t {
    float progress; //0-100
 
    int8_t flags; // value selected from enum slamtec_aurora_sdk_mapstorage_session_status_flags_t
} slamtec_aurora_sdk_mapstorage_session_status_t;
 
 
// -- tracking and mapping data
 
typedef struct _slamtec_aurora_sdk_position3d_t {
    double x;
    double y;
    double z;
} slamtec_aurora_sdk_position3d_t;;
 
typedef struct _slamtec_aurora_sdk_quaternion_t {
    double x;
    double y;
    double z;
    double w;
} slamtec_aurora_sdk_quaternion_t;
 
typedef struct _slamtec_aurora_sdk_euler_angle_t {
    double roll;
    double pitch;
    double yaw;
} slamtec_aurora_sdk_euler_angle_t;
 
typedef struct _slamtec_aurora_sdk_pose_se3_t {
    slamtec_aurora_sdk_position3d_t translation;
    slamtec_aurora_sdk_quaternion_t quaternion;
} slamtec_aurora_sdk_pose_se3_t;
 
typedef struct _slamtec_aurora_sdk_pose_t {
    slamtec_aurora_sdk_position3d_t translation;
    slamtec_aurora_sdk_euler_angle_t rpy;
} slamtec_aurora_sdk_pose_t;
 
 
enum slamtec_aurora_sdk_mapping_flag_types {
    SLAMTEC_AURORA_SDK_MAPPING_FLAG_NONE = 0,
    SLAMTEC_AURORA_SDK_MAPPING_FLAG_LOC_MODE = (0x1 << 0),
    SLAMTEC_AURORA_SDK_MAPPING_FLAG_LC_DISABLED = (0x1 << 2),
    SLAMTEC_AURORA_SDK_MAPPING_FLAG_GBA_RUNNING = (0x1 << 3),
    SLAMTEC_AURORA_SDK_MAPPING_FLAG_LOSTED = (0x1 << 16),
    SLAMTEC_AURORA_SDK_MAPPING_FLAG_STORAGE_IN_PROGRESS = (0x1 << 17),
};
 
typedef uint32_t slamtec_aurora_sdk_mapping_flag_t; //bitwise OR of enum slamtec_aurora_sdk_mapping_flag_types
 
enum slamtec_aurora_sdk_device_status_types {
    SLAMTEC_AURORA_SDK_DEVICE_INITED = 0,
    SLAMTEC_AURORA_SDK_DEVICE_INIT_FAILED,
    SLAMTEC_AURORA_SDK_DEVICE_LOOP_CLOSURE,
    SLAMTEC_AURORA_SDK_DEVICE_OPTIMIZATION_COMPLETED,
    SLAMTEC_AURORA_SDK_DEVICE_TRACKING_LOST,
    SLAMTEC_AURORA_SDK_DEVICE_TRACKING_RECOVERED,
    SLAMTEC_AURORA_SDK_DEVICE_MAP_UPDATED,
    SLAMTEC_AURORA_SDK_DEVICE_MAP_CLEARED,
    SLAMTEC_AURORA_SDK_DEVICE_MAP_SWITCHED,
    SLAMTEC_AURORA_SDK_DEVICE_MAP_LOADING_STARTED,
    SLAMTEC_AURORA_SDK_DEVICE_MAP_SAVING_STARTED,
    SLAMTEC_AURORA_SDK_DEVICE_MAP_LOADING_COMPLETED,
    SLAMTEC_AURORA_SDK_DEVICE_MAP_SAVING_COMPLETED,
};
 
typedef uint32_t slamtec_aurora_sdk_device_status_t; //value selected from enum slamtec_aurora_sdk_device_status_types
 
typedef struct _slamtec_aurora_sdk_device_status_desc
{
    slamtec_aurora_sdk_device_status_t status;
    uint64_t timestamp_ns;
} slamtec_aurora_sdk_device_status_desc_t;
 
enum slamtec_aurora_sdk_relocalization_status_types {
    SLAMTEC_AURORA_SDK_RELOCALIZATION_NONE = 0,
    SLAMTEC_AURORA_SDK_RELOCALIZATION_STARTED,
    SLAMTEC_AURORA_SDK_RELOCALIZATION_SUCCEED,
    SLAMTEC_AURORA_SDK_RELOCALIZATION_FAILED,
    SLAMTEC_AURORA_SDK_RELOCALIZATION_ABORTED
};
 
typedef uint32_t slamtec_aurora_sdk_relocalization_status_type_t;
 
typedef struct _slamtec_aurora_sdk_relocalization_status
{
    slamtec_aurora_sdk_relocalization_status_type_t status;
    uint64_t timestamp_ns;
} slamtec_aurora_sdk_relocalization_status_t;
 
typedef struct _slamtec_aurora_sdk_image_desc_t {
    uint32_t width;
    uint32_t height;
    uint32_t stride;
    uint32_t format; // 0: gray, 1: rgb, 2: rgba
    uint32_t data_size;
} slamtec_aurora_sdk_image_desc_t;
 
 
typedef struct _slamtec_aurora_sdk_keypoint_t {
    float x;
    float y;
    uint8_t flags;  // 0: unmatched, non-zero: matched
} slamtec_aurora_sdk_keypoint_t;
 
 
typedef struct _slamtec_aurora_sdk_tracking_data_buffer_t {
    void* imgdata_left; //buffer to hold image data of the left camera
                        //the buffer should be provided by the caller
                        //nullptr to disable image data copy
 
    size_t imgdata_left_size; // size of the buffer
 
 
    void* imgdata_right; 
    size_t imgdata_right_size;
 
 
    slamtec_aurora_sdk_keypoint_t* keypoints_left; //buffer to hold keypoints of the left camera
    size_t keypoints_left_buffer_count; // size of the buffer
 
    slamtec_aurora_sdk_keypoint_t* keypoints_right;
 
    size_t keypoints_right_buffer_count;
} slamtec_aurora_sdk_tracking_data_buffer_t;
 
 
enum slamtec_aurora_sdk_tracking_status_t {
    SLAMTEC_AURORA_TRACKING_STATUS_UNKNOWN = 0,
    SLAMTEC_AURORA_TRACKING_STATUS_SYS_NOT_READY,
    SLAMTEC_AURORA_TRACKING_STATUS_NOT_INIT,
    SLAMTEC_AURORA_TRACKING_STATUS_NO_IMG,
    SLAMTEC_AURORA_TRACKING_STATUS_OK,
    SLAMTEC_AURORA_TRACKING_STATUS_LOST,
    SLAMTEC_AURORA_TRACKING_STATUS_LOST_RECOVERED,
};
 
 
 
 
typedef struct _slamtec_aurora_sdk_tracking_info {
    uint64_t timestamp_ns;
 
    slamtec_aurora_sdk_image_desc_t left_image_desc;
    slamtec_aurora_sdk_image_desc_t right_image_desc;
 
    uint32_t is_stereo;
 
    uint32_t tracking_status; // from slamtec_aurora_sdk_tracking_status_t
 
    slamtec_aurora_sdk_pose_se3_t pose;
 
    uint32_t keypoints_left_count;
    uint32_t keypoints_right_count;
} slamtec_aurora_sdk_tracking_info_t;
 
 
typedef struct _slamtec_aurora_sdk_imu_data_t {
    uint64_t timestamp_ns;
    uint32_t imu_id;
    double acc[3];  // in g (1g = 9.8m/s^2)
    double gyro[3]; // in dps
} slamtec_aurora_sdk_imu_data_t;
 
 
typedef struct _slamtec_aurora_sdk_imu_info_t {
    int valid; // non-zero for valid data
 
 
    slamtec_aurora_sdk_pose_se3_t tcb;
 
    slamtec_aurora_sdk_pose_se3_t tc_imu;
 
    double cov_noise[6]; // gyro to accel
    double cov_random_walk[6]; // gyro to accel
} slamtec_aurora_sdk_imu_info_t;
 
typedef struct _slamtec_aurora_sdk_lidar_scan_point_t {
    float dist; 
    float angle;
    uint8_t quality;
} slamtec_aurora_sdk_lidar_scan_point_t;
 
typedef struct _slamtec_aurora_sdk_lidar_singlelayer_scandata_info_t {
    uint64_t timestamp_ns;
    int32_t layer_id;
    uint64_t binded_kf_id;
 
    float dyaw;
    uint32_t scan_count;
} slamtec_aurora_sdk_lidar_singlelayer_scandata_info_t;
 
 
typedef struct _slamtec_aurora_sdk_2d_gridmap_dimension_t{
    float min_x;
    float min_y;
    float max_x;
    float max_y;
} slamtec_aurora_sdk_2dmap_dimension_t;
 
 
typedef struct _slamtec_aurora_sdk_rect_t {
    float x;
    float y;
    float width;
    float height;
} slamtec_aurora_sdk_rect_t;
 
 
typedef struct _slamtec_aurora_sdk_2d_gridmap_generation_options_t {
    float resolution;
    float map_canvas_width;
    float map_canvas_height;
    int   active_map_only;
    int  height_range_specified;
    float min_height; //only valid when height_range_specified is true
    float max_height; //only valid when height_range_specified is true
} slamtec_aurora_sdk_2d_gridmap_generation_options_t;
 
 
typedef struct _slamtec_aurora_sdk_2d_gridmap_fetch_info_t {
    float real_x;
    float real_y;
    int cell_width;
    int cell_height;
} slamtec_aurora_sdk_2d_gridmap_fetch_info_t;
 
typedef struct _slamtec_aurora_sdk_floor_detection_desc_t {
    int floorID;
    float typical_height;
    float min_height;
    float max_height;
    float confidence;
} slamtec_aurora_sdk_floor_detection_desc_t;
 
 
typedef struct _slamtec_aurora_sdk_floor_detection_histogram_info_t {
    float bin_width;
    float bin_height_start;
    int bin_total_count;
} slamtec_aurora_sdk_floor_detection_histogram_info_t;
 
 
// -- Map Objects
 
typedef struct _slamtec_aurora_sdk_global_map_desc_t {
    uint64_t lastMPCountToFetch;
    uint64_t lastKFCountToFetch;
    uint64_t lastMapCountToFetch;
 
    uint64_t lastMPRetrieved;
    uint64_t lastKFRetrieved;
 
    uint64_t totalMPCount;
    uint64_t totalKFCount;
    uint64_t totalMapCount;
 
    uint64_t totalMPCountFetched;
    uint64_t totalKFCountFetched;
    uint64_t totalMapCountFetched;
 
    uint64_t currentActiveMPCount;
    uint64_t currentActiveKFCount;
 
    uint32_t activeMapID;
 
    slamtec_aurora_sdk_mapping_flag_t mappingFlags;
 
    uint64_t slidingWindowStartKFId;
 
} slamtec_aurora_sdk_global_map_desc_t;
 
 
enum slamtec_aurora_sdk_map_flags_t {
    SLAMTEC_AURORA_SDK_MAP_FLAG_NONE = 0,
    SLAMTEC_AURORA_SDK_MAP_FLAG_BAD = (0x1 << 0),
    SLAMTEC_AURORA_SDK_MAP_FLAG_FIXED = (0x1 << 1),
};
 
 
 
typedef struct _slamtec_aurora_sdk_map_desc_t {
    uint32_t map_id;
    uint32_t map_flags;
    uint64_t keyframe_count;
    uint64_t map_point_count;
    
    uint64_t keyframe_id_start;
    uint64_t keyframe_id_end;
 
    uint64_t map_point_id_start;
    uint64_t map_point_id_end;
 
} slamtec_aurora_sdk_map_desc_t;
 
 
enum slamtec_aurora_sdk_keyframe_flags_t {
    SLAMTEC_AURORA_SDK_KEYFRAME_FLAG_NONE = 0,
    SLAMTEC_AURORA_SDK_KEYFRAME_FLAG_BAD = (0x1 << 0),
    SLAMTEC_AURORA_SDK_KEYFRAME_FLAG_FIXED = (0x1 << 1),
};
 
 
 
typedef struct _slamtec_aurora_sdk_keyframe_desc_t {
    uint64_t id;
    uint64_t parent_id;
    uint32_t map_id;
 
    double timestamp;
 
    slamtec_aurora_sdk_pose_se3_t pose_se3;
    slamtec_aurora_sdk_pose_t pose;
 
    size_t looped_frame_count;
    size_t connected_frame_count;
 
 
    uint32_t flags;
} slamtec_aurora_sdk_keyframe_desc_t;
 
 
typedef struct _slamtec_aurora_sdk_map_point_desc_t {
    uint64_t id;
    uint32_t map_id;
 
    double timestamp;
 
    slamtec_aurora_sdk_position3d_t position;
    uint32_t flags;
} slamtec_aurora_sdk_map_point_desc_t;
 
// callbacks
 
typedef void (*slamtec_aurora_sdk_mapstorage_session_result_callback_t)(void* user_data, int is_ok);
 
typedef void (*slamtec_aurora_sdk_on_image_data_callback_t)(void* user_data, uint64_t timestamp_ns, const slamtec_aurora_sdk_image_desc_t* left_desc, const void* left_data, const slamtec_aurora_sdk_image_desc_t* right_desc, const void* right_data);
 
typedef void (*slamtec_aurora_sdk_on_tracking_data_callback_t)(void* user_data, const slamtec_aurora_sdk_tracking_info_t* tracking_data, const slamtec_aurora_sdk_tracking_data_buffer_t* provided_buffer_info);
 
typedef void (*slamtec_aurora_sdk_on_imu_data_callback_t)(void* user_data, const slamtec_aurora_sdk_imu_data_t* imu_data, size_t imu_data_count);
 
 
typedef void (*slamtec_aurora_sdk_on_mapping_flags_callback_t)(void* user_data, slamtec_aurora_sdk_mapping_flag_t mapping_flags);
 
typedef void (*slamtec_aurora_sdk_on_device_status_callback_t)(void* user_data, uint64_t timestamp_ns, slamtec_aurora_sdk_device_status_t status);
 
 
typedef void (*slamtec_aurora_sdk_on_lidar_scan_callback_t)(void* user_data, const slamtec_aurora_sdk_lidar_singlelayer_scandata_info_t* scan_info, const slamtec_aurora_sdk_lidar_scan_point_t* scan_point_buffer);
 
 
typedef struct _slamtec_aurora_sdk_listener_t {
    void* user_data;
 
    slamtec_aurora_sdk_on_image_data_callback_t on_raw_image_data;
    slamtec_aurora_sdk_on_tracking_data_callback_t on_tracking_data;
    slamtec_aurora_sdk_on_imu_data_callback_t on_imu_data;
    slamtec_aurora_sdk_on_mapping_flags_callback_t on_mapping_flags;
    slamtec_aurora_sdk_on_device_status_callback_t on_device_status;
    
    slamtec_aurora_sdk_on_lidar_scan_callback_t on_lidar_scan;
 
} slamtec_aurora_sdk_listener_t;
 
 
// map visitor
 
typedef void (*slamtec_aurora_sdk_on_map_keyframe_callback_t)(void* user_data, const slamtec_aurora_sdk_keyframe_desc_t* keyframe_desc, const uint64_t * looped_frame_ids, const uint64_t * connected_frame_ids);
typedef void (*slamtec_aurora_sdk_on_map_point_callback_t)(void* user_data, const slamtec_aurora_sdk_map_point_desc_t* map_point_desc);
 
typedef void (*slamtec_aurora_sdk_on_map_desc_callback_t)(void* user_data, const slamtec_aurora_sdk_map_desc_t* map_desc);
 
 
typedef struct _slamtec_aurora_sdk_map_data_visitor_t {
    void* user_data;
 
    slamtec_aurora_sdk_on_map_keyframe_callback_t on_keyframe;
    slamtec_aurora_sdk_on_map_point_callback_t on_map_point;
    slamtec_aurora_sdk_on_map_desc_callback_t on_map_desc;
} slamtec_aurora_sdk_map_data_visitor_t;
 // end of SDK_Basic_Data_Types