Namespace ILLIXR

Namespace List > ILLIXR

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Namespaces

Type	Name
namespace	data_format
namespace	display
namespace	math_util
namespace	network
namespace	vulkan
namespace	zed_capture

Classes

Type	Name
struct	Dependency
struct	DistortionCorrectionVertex
struct	DistortionMatrix
struct	OpenWarpVertex
struct	WarpMatrices
class	cancellable_sleep
class	data_injection
class	data_use_indicator A helper class that lets one dynamically determine if some data gets used.
class	debugview
class	depthai
struct	display_params Display parameters.
class	dynamic_lib
class	event A boolean condition-variable.
class	fauxpose
class	fauxpose_impl Create a "pose_prediction" type service.
class	gen_guid This class generates unique IDs.
class	gldemo
class	ground_truth_slam
class	gtsam_integrator
struct	index_params
class	lazy_load_image
class	lighthouse
class	managed_thread An object that manages a std::thread; it joins and exits when the object gets destructed.
struct	model
class	native_renderer
class	offline_cam
class	offline_imu
class	offload_data
class	offload_reader
class	offload_rendering_client
class	offload_rendering_server Main server implementation for offload rendering.
class	offload_rendering_server_loader Plugin loader for the offload rendering server.
class	offload_writer
class	openni_plugin
class	openwarp_vk
class	openwarp_vk_plugin
class	passthrough_integrator
class	phonebook A service locator forILLIXR .
class	plugin A dynamically-loadable plugin for Spindle.
class	pose_lookup_impl
class	pose_prediction_impl
struct	raw_imu_type
class	realsense
class	record This class represents a tuple of fields which get logged by record_logger .
class	record_coalescer Coalesces logs of the same type to be written back as a single-transaction.
class	record_header Schema of each record.
class	record_imu_cam
class	record_logger The ILLIXR logging service for structured records.
class	record_rgb_depth
class	relative_clock Relative clock for all of ILLIXR .
struct	rendering_params Rendering parameters.
class	rk4_integrator
class	runtime
struct	sensor_types
struct	server_params
class	server_reader
class	server_writer
class	sqlite_record_logger
class	sqlite_thread
struct	state_plus
class	stdout_record_logger
class	stoplight Start/stop synchronization for the whole application.
class	switchboard A manager for typesafe, threadsafe, named event-streams (called topics).
class	tcp_network_backend
struct	texture
class	threadloop A reusable threadloop for plugins.
class	time_point
class	timewarp_gl
class	timewarp_vk
class	timewarp_vk_plugin
struct	vertex
class	video_decoder
class	video_encoder
class	viewer
class	vkdemo
class	vkdemo_plugin
class	webcam
class	xlib_gl_extended_window
class	zed_camera
class	zed_camera_thread
class	zed_imu_thread

Public Types

Type	Name
typedef std::chrono::duration< clock_rep_, clock_period_ >	clock_duration_
typedef std::nano	clock_period_
typedef long	clock_rep_
typedef relative_clock::duration	duration
typedef plugin *(*	plugin_factory
typedef std::size_t	plugin_id_t
typedef data_format::pose_type	sensor_types
typedef threadloop	timewarp_type
typedef std::unique_ptr< void, std::function< void(void *)> >	void_ptr

Public Attributes

Type	Name
const std::vector< std::string >	ENV_VARS = /* multi line expression */
const size_t	LOG_PERIOD = 20
const record_header	_plugin_start_header = /* multi line expression */
const record_header	_switchboard_callback_header = /* multi line expression */
const record_header	_switchboard_topic_stop_header = /* multi line expression */
const record_header	_threadloop_iteration_header = /* multi line expression */
const data_format::proper_quaterniond	dq_0
const std::vector< std::string >	ignore_vars = {"plugins"}
size_t	log_count_ = 0
constexpr float	server_fov = 0.99

Public Static Attributes

Type	Name
const bool	ENABLE_VERBOSE_ERRORS = /* multi line expression */
std::chrono::milliseconds	LOG_BUFFER_DELAY = {1000}

Public Functions

Type	Name
const Eigen::Vector3d	Gravity (0. 0, 0. 0, 9. 81)
void	abort (const std::string & msg="", const int error_val=1) Exits the application during a fatal error.
GstFlowReturn	cb_new_sample (GstElement * appsink, gpointer * user_data)
data_format::proper_quaterniond	delta_q (const data_format::proper_quaterniond & k_n)
double	duration_to_double (duration dur)
constexpr duration	freq_to_period (double fps)
Eigen::Matrix4d	makeOmega (const Eigen::Vector3d & w) Generate the Omega matrix from the input 3-element vector.
bool	operator!= (const time_point & lhs, const time_point & rhs)
time_point	operator+ (const time_point & pt, const time_point::duration & d)
time_point	operator+ (const time_point::duration & d, const time_point & pt)
time_point::duration	operator- (const time_point & lhs, const time_point & rhs)
bool	operator< (const time_point & lhs, const time_point & rhs)
std::ostream &	operator<< (std::ostream & os, const state_plus & sp)
bool	operator<= (const time_point & lhs, const time_point & rhs)
bool	operator== (const time_point & lhs, const time_point & rhs)
bool	operator> (const time_point & lhs, const time_point & rhs)
bool	operator>= (const time_point & lhs, const time_point & rhs)
Eigen::Vector3d	p_dot (const Eigen::Vector3d & iv, const Eigen::Vector3d & k_n) f(x) for the position Calculate the new position based on the initial velocity and change in velocity
state_plus	predict_mean_rk4 (double dt, const state_plus & sp, const Eigen::Vector3d & ang_vel, const Eigen::Vector3d & linear_acc, const Eigen::Vector3d & ang_vel2, const Eigen::Vector3d & linear_acc2)
data_format::proper_quaterniond	q_dot (const Eigen::Vector3d & av, const data_format::proper_quaterniond & dq)
void	report_and_clear_errno (const std::string & file, const int & line, const std::string & function, const std::string & msg="") Support function to report errno values when debugging (NDEBUG).
int	run (const cxxopts::ParseResult & options)
runtime *	runtime_factory ()
T	solve (const T & yn, const T & k1, const T & k2, const T & k3, const T & k4) Solve for the Runge-Kutta 4th order approximation.
bool	str_to_bool (const std::string & var) Convert a string containing a (python) boolean to the bool type.
Eigen::Matrix3d	symmetric_skew (const Eigen::Vector3d & vec) Generates a skew-symmetric matrix from the given 3-element vector.
Eigen::Vector3d	v_dot (const data_format::proper_quaterniond & dq, const data_format::proper_quaterniond & q, const Eigen::Vector3d & l_acc) f(x) for the velocity Calculate the updated velocity from the acceleration and initial and delta quaternions

Detailed Description

There are many SQLite3 wrapper libraries. List source TODO: this

Public Types Documentation

typedef clock_duration_

using ILLIXR::clock_duration_ = typedef std::chrono::duration<clock_rep_, clock_period_>;

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typedef clock_period_

using ILLIXR::clock_period_ = typedef std::nano;

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typedef clock_rep_

using ILLIXR::clock_rep_ = typedef long;

Mimic of std::chrono::time_point<Clock, Rep> 1.

Can't use std::chrono::time_point<Clock, Rep>, because the Clock must satisfy the Clock interface 2, but relative_clock cannot satisfy this interface because relative_clock::now() is a stateful (instance method) not pure (class method). Instead, we will mimic the interface of 1 here.

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typedef duration

using ILLIXR::duration = typedef relative_clock::duration;

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typedef plugin_factory

typedef plugin *(* ILLIXR::plugin_factory) (phonebook *);

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typedef plugin_id_t

typedef std::size_t ILLIXR::plugin_id_t;

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typedef sensor_types

typedef data_format::pose_type ILLIXR::sensor_types;

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typedef timewarp_type

typedef threadloop ILLIXR::timewarp_type;

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typedef void_ptr

using ILLIXR::void_ptr = typedef std::unique_ptr<void, std::function<void(void*)> >;

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Public Attributes Documentation

variable ENV_VARS

const std::vector<std::string> ILLIXR::ENV_VARS;

---

variable LOG_PERIOD

const size_t ILLIXR::LOG_PERIOD;

---

variable _plugin_start_header

const record_header ILLIXR::_plugin_start_header;

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variable _switchboard_callback_header

const record_header ILLIXR::_switchboard_callback_header;

@Should be private to Switchboard.

---

variable _switchboard_topic_stop_header

const record_header ILLIXR::_switchboard_topic_stop_header;

@Should be private to Switchboard.

---

variable _threadloop_iteration_header

const record_header ILLIXR::_threadloop_iteration_header;

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variable dq_0

const data_format::proper_quaterniond ILLIXR::dq_0(1., 0., 0., 0.);

---

variable ignore_vars

const std::vector<std::string> ILLIXR::ignore_vars;

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variable log_count_

size_t ILLIXR::log_count_;

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variable server_fov

constexpr float ILLIXR::server_fov;

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Public Static Attributes Documentation

variable ENABLE_VERBOSE_ERRORS

const bool ILLIXR::ENABLE_VERBOSE_ERRORS;

---

variable LOG_BUFFER_DELAY

std::chrono::milliseconds ILLIXR::LOG_BUFFER_DELAY;

---

Public Functions Documentation

function Gravity

const Eigen::Vector3d ILLIXR::Gravity (
    0. 0,
    0. 0,
    9. 81
) 

Initial quaternion

---

function abort

Exits the application during a fatal error.

inline void ILLIXR::abort (
    const std::string & msg="",
    const int error_val=1
) 

Switches to using abort during debugging over std::exit so that we can capture SIGABRT for debugging.

---

function cb_new_sample

GstFlowReturn ILLIXR::cb_new_sample (
    GstElement * appsink,
    gpointer * user_data
) 

---

function delta_q

inline data_format::proper_quaterniond ILLIXR::delta_q (
    const data_format::proper_quaterniond & k_n
) 

Calculate the change in orientation based on the input Quaternion

Parameters:

• k_n The input Quaternion

Returns:

The change in orientation

---

function duration_to_double

template<typename Unit>
double ILLIXR::duration_to_double (
    duration dur
) 

---

function freq_to_period

constexpr duration ILLIXR::freq_to_period (
    double fps
) 

---

function makeOmega

Generate the Omega matrix from the input 3-element vector.

inline Eigen::Matrix4d ILLIXR::makeOmega (
    const Eigen::Vector3d & w
) 

Based on equation 48 of http://mars.cs.umn.edu/tr/reports/Trawny05b.pdf

---

function operator!=

inline bool ILLIXR::operator!= (
    const time_point & lhs,
    const time_point & rhs
) 

---

function operator+

inline time_point ILLIXR::operator+ (
    const time_point & pt,
    const time_point::duration & d
) 

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function operator+

inline time_point ILLIXR::operator+ (
    const time_point::duration & d,
    const time_point & pt
) 

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function operator-

inline time_point::duration ILLIXR::operator- (
    const time_point & lhs,
    const time_point & rhs
) 

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function operator<

inline bool ILLIXR::operator< (
    const time_point & lhs,
    const time_point & rhs
) 

---

function operator<<

std::ostream & ILLIXR::operator<< (
    std::ostream & os,
    const state_plus & sp
) 

---

function operator<=

inline bool ILLIXR::operator<= (
    const time_point & lhs,
    const time_point & rhs
) 

---

function operator==

inline bool ILLIXR::operator== (
    const time_point & lhs,
    const time_point & rhs
) 

---

function operator>

inline bool ILLIXR::operator> (
    const time_point & lhs,
    const time_point & rhs
) 

---

function operator>=

inline bool ILLIXR::operator>= (
    const time_point & lhs,
    const time_point & rhs
) 

---

function p_dot

f(x) for the position Calculate the new position based on the initial velocity and change in velocity

inline Eigen::Vector3d ILLIXR::p_dot (
    const Eigen::Vector3d & iv,
    const Eigen::Vector3d & k_n
) 

Parameters:

• iv The initial velocity as a vector
• k_n The change in velocity as a vector

Returns:

The updated position

---

function predict_mean_rk4

state_plus ILLIXR::predict_mean_rk4 (
    double dt,
    const state_plus & sp,
    const Eigen::Vector3d & ang_vel,
    const Eigen::Vector3d & linear_acc,
    const Eigen::Vector3d & ang_vel2,
    const Eigen::Vector3d & linear_acc2
) 

Calculate the updated state (orientation, position, and velocity) based on the initial and final velocities and accelerations

Parameters:

• dt The time between initial and final states (time step)
• sp The initial state
• ang_vel The initial angular velocity
• linear_acc The initial linear acceleration
• ang_vel2 The final angular velocity
• linear_acc2 The final angular acceleration

Returns:

The final state

---

function q_dot

inline data_format::proper_quaterniond ILLIXR::q_dot (
    const Eigen::Vector3d & av,
    const data_format::proper_quaterniond & dq
) 

f(x) for the orientation quaternion

Parameters:

• av Vector representing the angular velocity
• dq The current orientation represented by a quaternion

Returns:

The updated quaternion as a new instance

---

function report_and_clear_errno

Support function to report errno values when debugging (NDEBUG).

inline void ILLIXR::report_and_clear_errno (
    const std::string & file,
    const int & line,
    const std::string & function,
    const std::string & msg=""
) 

If errno is set, this function will report errno's value and the calling context. It will subsequently clear errno (reset value to 0). Otherwise, this function does nothing.

---

function run

int ILLIXR::run (
    const cxxopts::ParseResult & options
) 

---

function runtime_factory

runtime * ILLIXR::runtime_factory () 

---

function solve

Solve for the Runge-Kutta 4th order approximation.

template<typename T>
inline T ILLIXR::solve (
    const T & yn,
    const T & k1,
    const T & k2,
    const T & k3,
    const T & k4
) 

Template parameters:

• T The data type

Parameters:

• yn The value at the last time step
• k1 Runge-Kutta first order
• k2 Runge-Kutta second order
• k3 Runge-Kutta third order
• k4 Runge-Kutta fourth order

Returns:

The approximated value

---

function str_to_bool

Convert a string containing a (python) boolean to the bool type.

inline bool ILLIXR::str_to_bool (
    const std::string & var
) 

---

function symmetric_skew

Generates a skew-symmetric matrix from the given 3-element vector.

inline Eigen::Matrix3d ILLIXR::symmetric_skew (
    const Eigen::Vector3d & vec
) 

Gravitational acceleration, at sea level, on Earth

Based on equation 6 from http://mars.cs.umn.edu/tr/reports/Trawny05b.pdf

---

function v_dot

f(x) for the velocity Calculate the updated velocity from the acceleration and initial and delta quaternions

inline Eigen::Vector3d ILLIXR::v_dot (
    const data_format::proper_quaterniond & dq,
    const data_format::proper_quaterniond & q,
    const Eigen::Vector3d & l_acc
) 

Parameters:

• dq The delta quaternion (change)
• q The initial quaternion
• l_acc The acceleration as a vector

Returns:

The calculated velocity as a vector

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The documentation for this class was generated from the following file /home/friedel/devel/ILLIXR/include/illixr/dynamic_lib.hpp