@openhps/openvslam 0.0.0-stage → 0.1.0

package/cc/system.h

@@ -0,0 +1,47 @@
+#ifndef OPENHPS_OPENVSLAM_SYSTEM_H
+#define OPENHPS_OPENVSLAM_SYSTEM_H
+
+#include <nan.h>
+#include "config.h"
+
+#include <opencv2/core.hpp>
+#include <stella_vslam/system.h>
+#include <stella_vslam/config.h>
+#include "Mat.h"
+
+class System : public Nan::ObjectWrap {
+    public:
+        static void Init(v8::Local<v8::Object> exports);
+        stella_vslam::system* self;
+        Config* config;
+        
+    private:
+        explicit System(const Config& cfg, const std::string& vocab_file_path);
+        ~System();
+
+        static void New(const Nan::FunctionCallbackInfo<v8::Value>& info);
+        static void Startup(const Nan::FunctionCallbackInfo<v8::Value>& info);
+        static void GetMapPublisher(const Nan::FunctionCallbackInfo<v8::Value>& info);
+        static void GetFramePublisher(const Nan::FunctionCallbackInfo<v8::Value>& info);
+        static void CreateMonocularFrame(const Nan::FunctionCallbackInfo<v8::Value>& info);
+        static void FeedMonocularFrame(const Nan::FunctionCallbackInfo<v8::Value>& info);
+        static void CreateStereoFrame(const Nan::FunctionCallbackInfo<v8::Value>& info);
+        static void FeedStereoFrame(const Nan::FunctionCallbackInfo<v8::Value>& info);
+        static void CreateRGBDFrame(const Nan::FunctionCallbackInfo<v8::Value>& info);
+        static void FeedRGBDFrame(const Nan::FunctionCallbackInfo<v8::Value>& info);
+        static void LoadMapDatabase(const Nan::FunctionCallbackInfo<v8::Value>& info);
+        static void SaveMapDatabase(const Nan::FunctionCallbackInfo<v8::Value>& info);
+        static void EnableMappingModule(const Nan::FunctionCallbackInfo<v8::Value>& info);
+        static void DisableMappingModule(const Nan::FunctionCallbackInfo<v8::Value>& info);
+        static void RequestTerminate(const Nan::FunctionCallbackInfo<v8::Value>& info);
+        static void Shutdown(const Nan::FunctionCallbackInfo<v8::Value>& info);
+        static void RelocalizeByPose(const Nan::FunctionCallbackInfo<v8::Value>& info);
+        static void Reset(const Nan::FunctionCallbackInfo<v8::Value>& info);
+        static void Terminate(const Nan::FunctionCallbackInfo<v8::Value>& info);
+        static void GetConfig(v8::Local<v8::String> property, const Nan::PropertyCallbackInfo<v8::Value>& info);
+
+        static Nan::Persistent<v8::Function> constructor;
+        cv::Mat mask;
+};
+
+#endif

package/dist/cjs/data/VSLAMFrame.js

@@ -0,0 +1,44 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.VSLAMFrame = void 0;
+const tslib_1 = require("tslib");
+const core_1 = require("@openhps/core");
+const opencv_1 = require("@openhps/opencv");
+let VSLAMFrame = class VSLAMFrame extends opencv_1.VideoFrame {
+    /**
+     * Get the camera pose at the time of the frame
+     * @returns {Matrix4} Camera pose as a matrix with translation and rotation
+     */
+    get cameraPose() {
+        if (this.source && this.source.getPosition()) {
+            const vector = this.source.getPosition().toVector3(core_1.LengthUnit.METER);
+            const matrix = new core_1.Matrix4().identity();
+            matrix.makeRotationFromQuaternion(this.source.getPosition().orientation);
+            matrix.setPosition(vector.x, vector.z, vector.y);
+            return matrix;
+        }
+        else {
+            return new core_1.Matrix4().identity();
+        }
+    }
+    /**
+     * Set the camera at the time of the frame
+     * @param {Matrix4} pose Camera pose
+     */
+    set cameraPose(pose) {
+        if (this.source) {
+            const position = new core_1.Absolute3DPosition(pose.elements[12], pose.elements[14], pose.elements[13], core_1.LengthUnit.METER);
+            position.orientation = core_1.Orientation.fromRotationMatrix(pose);
+            this.source.setPosition(position);
+        }
+    }
+};
+exports.VSLAMFrame = VSLAMFrame;
+tslib_1.__decorate([
+    (0, core_1.SerializableMember)(),
+    tslib_1.__metadata("design:type", String)
+], VSLAMFrame.prototype, "systemUID", void 0);
+exports.VSLAMFrame = VSLAMFrame = tslib_1.__decorate([
+    (0, core_1.SerializableObject)()
+], VSLAMFrame);
+//# sourceMappingURL=VSLAMFrame.js.map

package/dist/cjs/data/VSLAMFrame.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"VSLAMFrame.js","sourceRoot":"","sources":["../../../src/data/VSLAMFrame.ts"],"names":[],"mappings":";;;;AAAA,wCAOuB;AACvB,4CAA6C;AAGtC,IAAM,UAAU,GAAhB,MAAM,UAAW,SAAQ,mBAAU;IAItC;;;OAGG;IACH,IAAI,UAAU;QACV,IAAI,IAAI,CAAC,MAAM,IAAI,IAAI,CAAC,MAAM,CAAC,WAAW,EAAE,EAAE,CAAC;YAC3C,MAAM,MAAM,GAAG,IAAI,CAAC,MAAM,CAAC,WAAW,EAAE,CAAC,SAAS,CAAC,iBAAU,CAAC,KAAK,CAAC,CAAC;YACrE,MAAM,MAAM,GAAG,IAAI,cAAO,EAAE,CAAC,QAAQ,EAAE,CAAC;YACxC,MAAM,CAAC,0BAA0B,CAAC,IAAI,CAAC,MAAM,CAAC,WAAW,EAAE,CAAC,WAAW,CAAC,CAAC;YACzE,MAAM,CAAC,WAAW,CAAC,MAAM,CAAC,CAAC,EAAE,MAAM,CAAC,CAAC,EAAE,MAAM,CAAC,CAAC,CAAC,CAAC;YACjD,OAAO,MAAM,CAAC;QAClB,CAAC;aAAM,CAAC;YACJ,OAAO,IAAI,cAAO,EAAE,CAAC,QAAQ,EAAE,CAAC;QACpC,CAAC;IACL,CAAC;IAED;;;OAGG;IACH,IAAI,UAAU,CAAC,IAAa;QACxB,IAAI,IAAI,CAAC,MAAM,EAAE,CAAC;YACd,MAAM,QAAQ,GAAG,IAAI,yBAAkB,CACnC,IAAI,CAAC,QAAQ,CAAC,EAAE,CAAC,EACjB,IAAI,CAAC,QAAQ,CAAC,EAAE,CAAC,EACjB,IAAI,CAAC,QAAQ,CAAC,EAAE,CAAC,EACjB,iBAAU,CAAC,KAAK,CACnB,CAAC;YACF,QAAQ,CAAC,WAAW,GAAG,kBAAW,CAAC,kBAAkB,CAAC,IAAI,CAAC,CAAC;YAC5D,IAAI,CAAC,MAAM,CAAC,WAAW,CAAC,QAAQ,CAAC,CAAC;QACtC,CAAC;IACL,CAAC;CACJ,CAAA;AApCY,gCAAU;AAEnB;IADC,IAAA,yBAAkB,GAAE;;6CACH;qBAFT,UAAU;IADtB,IAAA,yBAAkB,GAAE;GACR,UAAU,CAoCtB"}

package/dist/cjs/data/VSLAMGraphNode.js

@@ -0,0 +1,7 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.VSLAMGraphNode = void 0;
+class VSLAMGraphNode {
+}
+exports.VSLAMGraphNode = VSLAMGraphNode;
+//# sourceMappingURL=VSLAMGraphNode.js.map

package/dist/cjs/data/VSLAMGraphNode.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"VSLAMGraphNode.js","sourceRoot":"","sources":["../../../src/data/VSLAMGraphNode.ts"],"names":[],"mappings":";;;AAAA,MAAa,cAAc;CAAG;AAA9B,wCAA8B"}

package/dist/cjs/data/VSLAMKeyFrame.js

@@ -0,0 +1,56 @@
+"use strict";
+var VSLAMKeyFrame_1;
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.VSLAMKeyFrame = void 0;
+const tslib_1 = require("tslib");
+const core_1 = require("@openhps/core");
+const VSLAMFrame_1 = require("./VSLAMFrame");
+const VSLAMLandmark_1 = require("./VSLAMLandmark");
+let VSLAMKeyFrame = VSLAMKeyFrame_1 = class VSLAMKeyFrame extends VSLAMFrame_1.VSLAMFrame {
+    constructor() {
+        super(...arguments);
+        this.willBeErased = false;
+    }
+    /**
+     * Create a VSLAM keyframe from native object
+     * @param {KeyFrame} keyframe Native object
+     * @returns {VSLAMKeyFrame} VSLAM keyframe instance
+     */
+    static fromNative(keyframe) {
+        const mapKeyframe = new VSLAMKeyFrame_1();
+        const json = keyframe.toJSON();
+        mapKeyframe.uid = json.src_frm_id.toString();
+        mapKeyframe.createdTimestamp = core_1.TimeUnit.MILLISECOND.convert(json['ts'], core_1.TimeService.getUnit());
+        const pose = new core_1.Matrix4().identity();
+        pose.makeRotationFromQuaternion(core_1.Quaternion.fromRotationMatrix(new core_1.Matrix4().fromArray(json.rot_cw)));
+        pose.setPosition(json.trans_cw[0], json.trans_cw[1], json.trans_cw[2]);
+        mapKeyframe.cameraPose = pose;
+        return mapKeyframe;
+    }
+    /**
+     * Get frame landmarks
+     * @returns {VSLAMLandmark[]} Array of landmarks found in this frame
+     */
+    get landmarks() {
+        return this.getObjects(VSLAMLandmark_1.VSLAMLandmark);
+    }
+    /**
+     * Set frame landmarks
+     * @param {VSLAMLandmark[]} values Array of landmarks
+     */
+    set landmarks(values) {
+        values.forEach(this.addObject.bind(this));
+    }
+    /**
+     * Add a landmark to the frame
+     * @param {VSLAMLandmark} landmark Landmark to add
+     */
+    addLandmark(landmark) {
+        this.addObject(landmark);
+    }
+};
+exports.VSLAMKeyFrame = VSLAMKeyFrame;
+exports.VSLAMKeyFrame = VSLAMKeyFrame = VSLAMKeyFrame_1 = tslib_1.__decorate([
+    (0, core_1.SerializableObject)()
+], VSLAMKeyFrame);
+//# sourceMappingURL=VSLAMKeyFrame.js.map

package/dist/cjs/data/VSLAMKeyFrame.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"VSLAMKeyFrame.js","sourceRoot":"","sources":["../../../src/data/VSLAMKeyFrame.ts"],"names":[],"mappings":";;;;;AAAA,wCAA+F;AAE/F,6CAA0C;AAC1C,mDAAgD;AAGzC,IAAM,aAAa,qBAAnB,MAAM,aAAc,SAAQ,uBAAU;IAAtC;;QACH,iBAAY,GAAG,KAAK,CAAC;IA0CzB,CAAC;IAxCG;;;;OAIG;IACH,MAAM,CAAC,UAAU,CAAC,QAAkB;QAChC,MAAM,WAAW,GAAG,IAAI,eAAa,EAAE,CAAC;QACxC,MAAM,IAAI,GAAG,QAAQ,CAAC,MAAM,EAAE,CAAC;QAC/B,WAAW,CAAC,GAAG,GAAG,IAAI,CAAC,UAAU,CAAC,QAAQ,EAAE,CAAC;QAC7C,WAAW,CAAC,gBAAgB,GAAG,eAAQ,CAAC,WAAW,CAAC,OAAO,CAAC,IAAI,CAAC,IAAI,CAAC,EAAE,kBAAW,CAAC,OAAO,EAAE,CAAC,CAAC;QAC/F,MAAM,IAAI,GAAG,IAAI,cAAO,EAAE,CAAC,QAAQ,EAAE,CAAC;QACtC,IAAI,CAAC,0BAA0B,CAAC,iBAAU,CAAC,kBAAkB,CAAC,IAAI,cAAO,EAAE,CAAC,SAAS,CAAC,IAAI,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC;QACrG,IAAI,CAAC,WAAW,CAAC,IAAI,CAAC,QAAQ,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,QAAQ,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,QAAQ,CAAC,CAAC,CAAC,CAAC,CAAC;QACvE,WAAW,CAAC,UAAU,GAAG,IAAI,CAAC;QAC9B,OAAO,WAAW,CAAC;IACvB,CAAC;IAED;;;OAGG;IACH,IAAI,SAAS;QACT,OAAO,IAAI,CAAC,UAAU,CAAC,6BAAa,CAAC,CAAC;IAC1C,CAAC;IAED;;;OAGG;IACH,IAAI,SAAS,CAAC,MAAuB;QACjC,MAAM,CAAC,OAAO,CAAC,IAAI,CAAC,SAAS,CAAC,IAAI,CAAC,IAAI,CAAC,CAAC,CAAC;IAC9C,CAAC;IAED;;;OAGG;IACH,WAAW,CAAC,QAAuB;QAC/B,IAAI,CAAC,SAAS,CAAC,QAAQ,CAAC,CAAC;IAC7B,CAAC;CACJ,CAAA;AA3CY,sCAAa;wBAAb,aAAa;IADzB,IAAA,yBAAkB,GAAE;GACR,aAAa,CA2CzB"}

package/dist/cjs/data/VSLAMLandmark.js

@@ -0,0 +1,53 @@
+"use strict";
+var VSLAMLandmark_1;
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.VSLAMLandmark = void 0;
+const tslib_1 = require("tslib");
+const core_1 = require("@openhps/core");
+let VSLAMLandmark = VSLAMLandmark_1 = class VSLAMLandmark extends core_1.DataObject {
+    /**
+     * Create a VSLAM landmark from native object
+     * @param {Landmark} landmark Native object
+     * @returns {VSLAMLandmark} VSLAM landmark instance
+     */
+    static fromNative(landmark) {
+        const mapLandmark = new VSLAMLandmark_1(landmark.id.toString());
+        const json = landmark.toJSON();
+        mapLandmark.keyframeUID = json['1st_keyfrm'].toString();
+        mapLandmark.referenceKeyframeUID = json['ref_keyfrm'].toString();
+        mapLandmark.observable = json['n_vis'];
+        mapLandmark.observed = json['n_fnd'];
+        if (json.pos_w) {
+            mapLandmark.setPosition(new core_1.Absolute3DPosition(json.pos_w[0], json.pos_w[1], json.pos_w[2], core_1.LengthUnit.METER));
+        }
+        return mapLandmark;
+    }
+    /**
+     * Convert the VSLAM landmark to native JSON serialization
+     * @returns {any} Native JSON serialization
+     */
+    toNativeJSON() {
+        return undefined;
+    }
+};
+exports.VSLAMLandmark = VSLAMLandmark;
+tslib_1.__decorate([
+    (0, core_1.SerializableMember)(),
+    tslib_1.__metadata("design:type", String)
+], VSLAMLandmark.prototype, "keyframeUID", void 0);
+tslib_1.__decorate([
+    (0, core_1.SerializableMember)(),
+    tslib_1.__metadata("design:type", String)
+], VSLAMLandmark.prototype, "referenceKeyframeUID", void 0);
+tslib_1.__decorate([
+    (0, core_1.SerializableMember)(),
+    tslib_1.__metadata("design:type", Number)
+], VSLAMLandmark.prototype, "observed", void 0);
+tslib_1.__decorate([
+    (0, core_1.SerializableMember)(),
+    tslib_1.__metadata("design:type", Number)
+], VSLAMLandmark.prototype, "observable", void 0);
+exports.VSLAMLandmark = VSLAMLandmark = VSLAMLandmark_1 = tslib_1.__decorate([
+    (0, core_1.SerializableObject)()
+], VSLAMLandmark);
+//# sourceMappingURL=VSLAMLandmark.js.map

package/dist/cjs/data/VSLAMLandmark.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"VSLAMLandmark.js","sourceRoot":"","sources":["../../../src/data/VSLAMLandmark.ts"],"names":[],"mappings":";;;;;AAAA,wCAAmH;AAI5G,IAAM,aAAa,qBAAnB,MAAM,aAAc,SAAQ,iBAAU;IAUzC;;;;OAIG;IACH,MAAM,CAAC,UAAU,CAAC,QAAkB;QAChC,MAAM,WAAW,GAAG,IAAI,eAAa,CAAC,QAAQ,CAAC,EAAE,CAAC,QAAQ,EAAE,CAAC,CAAC;QAC9D,MAAM,IAAI,GAAG,QAAQ,CAAC,MAAM,EAAE,CAAC;QAC/B,WAAW,CAAC,WAAW,GAAG,IAAI,CAAC,YAAY,CAAC,CAAC,QAAQ,EAAE,CAAC;QACxD,WAAW,CAAC,oBAAoB,GAAG,IAAI,CAAC,YAAY,CAAC,CAAC,QAAQ,EAAE,CAAC;QACjE,WAAW,CAAC,UAAU,GAAG,IAAI,CAAC,OAAO,CAAC,CAAC;QACvC,WAAW,CAAC,QAAQ,GAAG,IAAI,CAAC,OAAO,CAAC,CAAC;QACrC,IAAI,IAAI,CAAC,KAAK,EAAE,CAAC;YACb,WAAW,CAAC,WAAW,CACnB,IAAI,yBAAkB,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,KAAK,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,KAAK,CAAC,CAAC,CAAC,EAAE,iBAAU,CAAC,KAAK,CAAC,CACxF,CAAC;QACN,CAAC;QACD,OAAO,WAAW,CAAC;IACvB,CAAC;IAED;;;OAGG;IACH,YAAY;QACR,OAAO,SAAS,CAAC;IACrB,CAAC;CACJ,CAAA;AArCY,sCAAa;AAEtB;IADC,IAAA,yBAAkB,GAAE;;kDACD;AAEpB;IADC,IAAA,yBAAkB,GAAE;;2DACQ;AAE7B;IADC,IAAA,yBAAkB,GAAE;;+CACJ;AAEjB;IADC,IAAA,yBAAkB,GAAE;;iDACF;wBARV,aAAa;IADzB,IAAA,yBAAkB,GAAE;GACR,aAAa,CAqCzB"}

package/dist/cjs/data/VSLAMMap.js

@@ -0,0 +1,36 @@
+"use strict";
+var VSLAMMap_1;
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.VSLAMMap = void 0;
+const tslib_1 = require("tslib");
+const core_1 = require("@openhps/core");
+const VSLAMKeyFrame_1 = require("./VSLAMKeyFrame");
+const VSLAMLandmark_1 = require("./VSLAMLandmark");
+let VSLAMMap = VSLAMMap_1 = class VSLAMMap extends core_1.DataObject {
+    constructor() {
+        super(...arguments);
+        this.landmarks = new Set();
+        this.keyFrames = new Set();
+    }
+    /**
+     * Create a VSLAM map from native object
+     * @returns {VSLAMMap} VSLAM map instance
+     */
+    static fromNative() {
+        const map = new VSLAMMap_1();
+        return map;
+    }
+};
+exports.VSLAMMap = VSLAMMap;
+tslib_1.__decorate([
+    (0, core_1.SerializableSetMember)(VSLAMLandmark_1.VSLAMLandmark),
+    tslib_1.__metadata("design:type", Set)
+], VSLAMMap.prototype, "landmarks", void 0);
+tslib_1.__decorate([
+    (0, core_1.SerializableSetMember)(VSLAMKeyFrame_1.VSLAMKeyFrame),
+    tslib_1.__metadata("design:type", Set)
+], VSLAMMap.prototype, "keyFrames", void 0);
+exports.VSLAMMap = VSLAMMap = VSLAMMap_1 = tslib_1.__decorate([
+    (0, core_1.SerializableObject)()
+], VSLAMMap);
+//# sourceMappingURL=VSLAMMap.js.map

package/dist/cjs/data/VSLAMMap.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"VSLAMMap.js","sourceRoot":"","sources":["../../../src/data/VSLAMMap.ts"],"names":[],"mappings":";;;;;AAAA,wCAAsF;AACtF,mDAAgD;AAChD,mDAAgD;AAGzC,IAAM,QAAQ,gBAAd,MAAM,QAAS,SAAQ,iBAAU;IAAjC;;QAEH,cAAS,GAAuB,IAAI,GAAG,EAAiB,CAAC;QAEzD,cAAS,GAAuB,IAAI,GAAG,EAAiB,CAAC;IAU7D,CAAC;IARG;;;OAGG;IACH,MAAM,CAAC,UAAU;QACb,MAAM,GAAG,GAAG,IAAI,UAAQ,EAAE,CAAC;QAC3B,OAAO,GAAG,CAAC;IACf,CAAC;CACJ,CAAA;AAdY,4BAAQ;AAEjB;IADC,IAAA,4BAAqB,EAAC,6BAAa,CAAC;sCAC1B,GAAG;2CAA2C;AAEzD;IADC,IAAA,4BAAqB,EAAC,6BAAa,CAAC;sCAC1B,GAAG;2CAA2C;mBAJhD,QAAQ;IADpB,IAAA,yBAAkB,GAAE;GACR,QAAQ,CAcpB"}

package/dist/cjs/data/index.js

@@ -0,0 +1,8 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+const tslib_1 = require("tslib");
+tslib_1.__exportStar(require("./VSLAMFrame"), exports);
+tslib_1.__exportStar(require("./VSLAMKeyFrame"), exports);
+tslib_1.__exportStar(require("./VSLAMLandmark"), exports);
+tslib_1.__exportStar(require("./VSLAMMap"), exports);
+//# sourceMappingURL=index.js.map

package/dist/cjs/data/index.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"index.js","sourceRoot":"","sources":["../../../src/data/index.ts"],"names":[],"mappings":";;;AAAA,uDAA6B;AAC7B,0DAAgC;AAChC,0DAAgC;AAChC,qDAA2B"}

package/dist/cjs/index.js

@@ -0,0 +1,9 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.OpenVSLAM = void 0;
+const tslib_1 = require("tslib");
+tslib_1.__exportStar(require("./data"), exports);
+tslib_1.__exportStar(require("./nodes"), exports);
+tslib_1.__exportStar(require("./service"), exports);
+exports.OpenVSLAM = require("./openvslam");
+//# sourceMappingURL=index.js.map

package/dist/cjs/index.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"index.js","sourceRoot":"","sources":["../../src/index.ts"],"names":[],"mappings":";;;;AAAA,iDAAuB;AACvB,kDAAwB;AACxB,oDAA0B;AAC1B,2CAAyC"}

package/dist/cjs/nodes/VSLAMConfiguration.js

@@ -0,0 +1,43 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.VSLAMConfiguration = void 0;
+const YAML = require("yaml");
+const fs = require("fs");
+class VSLAMConfiguration {
+    /**
+     * Convert the configuration to YAML string
+     * @returns {string} YAML output string
+     */
+    toYAML() {
+        return YAML.stringify(this);
+    }
+    static fromYAML(yamlString) {
+        return VSLAMConfiguration.fromParsedYAML(YAML.parse(yamlString));
+    }
+    static fromYAMLFile(filePath) {
+        const file = fs.readFileSync(filePath, 'utf8');
+        return VSLAMConfiguration.fromParsedYAML(YAML.parse(file));
+    }
+    static fromParsedYAML(yaml) {
+        const instance = new VSLAMConfiguration();
+        if (yaml === null || typeof yaml !== 'object') {
+            return instance;
+        }
+        // Copy the properties without letting a malicious document alter the
+        // prototype chain (a `__proto__` key) of the instance
+        for (const key of Object.keys(yaml)) {
+            if (key === '__proto__') {
+                continue;
+            }
+            Object.defineProperty(instance, key, {
+                value: yaml[key],
+                writable: true,
+                enumerable: true,
+                configurable: true,
+            });
+        }
+        return instance;
+    }
+}
+exports.VSLAMConfiguration = VSLAMConfiguration;
+//# sourceMappingURL=VSLAMConfiguration.js.map

package/dist/cjs/nodes/VSLAMConfiguration.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"VSLAMConfiguration.js","sourceRoot":"","sources":["../../../src/nodes/VSLAMConfiguration.ts"],"names":[],"mappings":";;;AACA,6BAA6B;AAC7B,yBAAyB;AAEzB,MAAa,kBAAkB;IAM3B;;;OAGG;IACH,MAAM;QACF,OAAO,IAAI,CAAC,SAAS,CAAC,IAAI,CAAC,CAAC;IAChC,CAAC;IAED,MAAM,CAAC,QAAQ,CAAC,UAAkB;QAC9B,OAAO,kBAAkB,CAAC,cAAc,CAAC,IAAI,CAAC,KAAK,CAAC,UAAU,CAAC,CAAC,CAAC;IACrE,CAAC;IAED,MAAM,CAAC,YAAY,CAAC,QAAgB;QAChC,MAAM,IAAI,GAAG,EAAE,CAAC,YAAY,CAAC,QAAQ,EAAE,MAAM,CAAC,CAAC;QAC/C,OAAO,kBAAkB,CAAC,cAAc,CAAC,IAAI,CAAC,KAAK,CAAC,IAAI,CAAC,CAAC,CAAC;IAC/D,CAAC;IAEO,MAAM,CAAC,cAAc,CAAC,IAAS;QACnC,MAAM,QAAQ,GAAG,IAAI,kBAAkB,EAAE,CAAC;QAC1C,IAAI,IAAI,KAAK,IAAI,IAAI,OAAO,IAAI,KAAK,QAAQ,EAAE,CAAC;YAC5C,OAAO,QAAQ,CAAC;QACpB,CAAC;QACD,qEAAqE;QACrE,sDAAsD;QACtD,KAAK,MAAM,GAAG,IAAI,MAAM,CAAC,IAAI,CAAC,IAAI,CAAC,EAAE,CAAC;YAClC,IAAI,GAAG,KAAK,WAAW,EAAE,CAAC;gBACtB,SAAS;YACb,CAAC;YACD,MAAM,CAAC,cAAc,CAAC,QAAQ,EAAE,GAAG,EAAE;gBACjC,KAAK,EAAE,IAAI,CAAC,GAAG,CAAC;gBAChB,QAAQ,EAAE,IAAI;gBACd,UAAU,EAAE,IAAI;gBAChB,YAAY,EAAE,IAAI;aACrB,CAAC,CAAC;QACP,CAAC;QACD,OAAO,QAAQ,CAAC;IACpB,CAAC;CACJ;AA3CD,gDA2CC"}

package/dist/cjs/nodes/index.js

@@ -0,0 +1,7 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+const tslib_1 = require("tslib");
+tslib_1.__exportStar(require("./processing"), exports);
+tslib_1.__exportStar(require("./sink"), exports);
+tslib_1.__exportStar(require("./VSLAMConfiguration"), exports);
+//# sourceMappingURL=index.js.map

package/dist/cjs/nodes/index.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"index.js","sourceRoot":"","sources":["../../../src/nodes/index.ts"],"names":[],"mappings":";;;AAAA,uDAA6B;AAC7B,iDAAuB;AACvB,+DAAqC"}

package/dist/cjs/nodes/processing/VSLAMProcessingNode.js

@@ -0,0 +1,124 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.VSLAMProcessingNode = void 0;
+const core_1 = require("@openhps/core");
+const opencv_1 = require("@openhps/opencv");
+const fs = require("fs");
+const data_1 = require("../../data");
+const VSLAMService_1 = require("../../service/VSLAMService");
+/**
+ * VSLAM processing node is a node that takes in a video frame and uses
+ * OpenVSLAM to process the video frame.
+ */
+class VSLAMProcessingNode extends core_1.ProcessingNode {
+    constructor(options) {
+        super(options);
+        this.systems = [];
+        this.options.mapping = this.options.mapping === undefined ? true : this.options.mapping;
+        this.once('build', this._onBuild.bind(this));
+        this.once('destroy', this._onDestroy.bind(this));
+    }
+    _onBuild() {
+        return new Promise((resolve, reject) => {
+            if (!this.model) {
+                return reject(new Error(`Unable to start VSLAM processing without VSLAMService!`));
+            }
+            this.service = this.model.findService(VSLAMService_1.VSLAMService);
+            this.service
+                .createSystem(this.options.config)
+                .then((uid) => {
+                this.systems.push(uid);
+                return this.service.findSystemByUID(uid);
+            })
+                .then((system) => {
+                const mapDatabaseExists = this.options.mapDatabaseFile !== undefined && fs.existsSync(this.options.mapDatabaseFile);
+                if (mapDatabaseExists) {
+                    this.logger('debug', {
+                        msg: `Loading OpenVSLAM map database ...`,
+                        file: this.options.mapDatabaseFile,
+                    });
+                    system.loadMap(this.options.mapDatabaseFile);
+                }
+                system.startup(!mapDatabaseExists);
+                // Global mapper
+                if (this.options.mapping) {
+                    this.logger('debug', {
+                        msg: `Enable mapping for OpenVSLAM`,
+                    });
+                    system.enableMapping();
+                }
+                else {
+                    this.logger('debug', {
+                        msg: `Disabling mapping for OpenVSLAM`,
+                    });
+                    system.disableMapping();
+                }
+                resolve();
+            })
+                .catch(reject);
+        });
+    }
+    _onDestroy() {
+        return new Promise((resolve, reject) => {
+            const promises = this.systems.map((systemUID) => this.service.findSystemByUID(systemUID));
+            Promise.all(promises)
+                .then((systemInstances) => {
+                systemInstances.forEach((system) => {
+                    if (this.options.mapDatabaseFile && this.options.mapping && this.options.persistMapping) {
+                        // Save mapping
+                        this.logger('debug', {
+                            msg: `Saving OpenVSLAM map database ...`,
+                            file: this.options.mapDatabaseFile,
+                        });
+                        system.saveMap(this.options.mapDatabaseFile);
+                    }
+                });
+                // Delete and shutdown systems
+                return Promise.all(this.systems.map((systemUID) => this.service.deleteSystem(systemUID)));
+            })
+                .then(() => {
+                resolve();
+            })
+                .catch(reject);
+        });
+    }
+    process(data) {
+        return new Promise((resolve, reject) => {
+            let uid = undefined;
+            this.service
+                .findSystemUIDByObject(data.source)
+                .then((systemUID) => {
+                uid = systemUID;
+                return this.service.findSystemByUID(uid);
+            })
+                .then((system) => {
+                if (!system) {
+                    return resolve(undefined);
+                }
+                const out = new data_1.VSLAMFrame(data);
+                const timestamp = core_1.TimeService.getUnit().convert(data.phenomenonTimestamp, core_1.TimeUnit.SECOND);
+                // Process the frame differently depending on the type of video frame
+                if (data instanceof opencv_1.VideoFrame) {
+                    out.image = data.image;
+                    system.feedMonocularFrame(data.image, timestamp);
+                }
+                else if (data instanceof opencv_1.StereoVideoFrame) {
+                    out.image = data.left.image;
+                    system.feedStereoFrame(data.left.image, data.right.image, timestamp);
+                }
+                else if (data instanceof opencv_1.DepthImageFrame) {
+                    out.image = data.image;
+                    system.feedRGBDFrame(data.image, data.depth, timestamp);
+                }
+                // Fetch the current camera pose
+                const pose = new core_1.Matrix4().fromArray(system.getMapPublisher().getCurrentCamPose());
+                out.cameraPose = pose;
+                out.systemUID = uid;
+                resolve(out);
+            })
+                .catch(reject);
+        });
+    }
+}
+exports.VSLAMProcessingNode = VSLAMProcessingNode;
+//# sourceMappingURL=VSLAMProcessingNode.js.map

package/dist/cjs/nodes/processing/VSLAMProcessingNode.js.map

@@ -0,0 +1 @@
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package/dist/cjs/nodes/processing/index.js

@@ -0,0 +1,5 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+const tslib_1 = require("tslib");
+tslib_1.__exportStar(require("./VSLAMProcessingNode"), exports);
+//# sourceMappingURL=index.js.map

package/dist/cjs/nodes/processing/index.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"index.js","sourceRoot":"","sources":["../../../../src/nodes/processing/index.ts"],"names":[],"mappings":";;;AAAA,gEAAsC"}

package/dist/cjs/nodes/sink/VSLAMSocketPublisher.js

@@ -0,0 +1,68 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.VSLAMSocketPublisher = void 0;
+const core_1 = require("@openhps/core");
+const openvslam_1 = require("../../openvslam");
+const VSLAMService_1 = require("../../service/VSLAMService");
+class VSLAMSocketPublisher extends core_1.SinkNode {
+    constructor(options) {
+        var _a;
+        super(options);
+        this.publishers = new Map();
+        this.options = options !== null && options !== void 0 ? options : {};
+        this.options.url = (_a = this.options.url) !== null && _a !== void 0 ? _a : 'http://localhost:3000';
+        this.once('build', this._onBuild.bind(this));
+        this.once('destroy', this._onDestroy.bind(this));
+    }
+    _onBuild() {
+        return new Promise((resolve, reject) => {
+            if (!this.model) {
+                return reject(new Error(`Unable to start VSLAM processing without VSLAMService!`));
+            }
+            this.service = this.model.findService(VSLAMService_1.VSLAMService);
+            if (!this.service) {
+                return reject(new Error(`Unable to start VSLAM socket publisher without VSLAMService!`));
+            }
+            resolve();
+        });
+    }
+    _onDestroy() {
+        return new Promise((resolve) => {
+            this.publishers.forEach((publisher) => {
+                publisher.terminate();
+            });
+            resolve();
+        });
+    }
+    onPush(frame, options) {
+        return new Promise((resolve, reject) => {
+            if (!frame.systemUID) {
+                return resolve();
+            }
+            const existingPublisher = this.publishers.get(frame.systemUID);
+            if (existingPublisher) {
+                return resolve();
+            }
+            this.service
+                .findSystemByUID(frame.systemUID)
+                .then((system) => {
+                if (!system) {
+                    return reject(new Error(`VSLAM system ${frame.systemUID} not found!`));
+                }
+                // A publisher may have been created by a concurrent push
+                if (this.publishers.has(frame.systemUID)) {
+                    return;
+                }
+                const publisher = new openvslam_1.SocketPublisher(system, this.options.url);
+                publisher.run();
+                this.publishers.set(frame.systemUID, publisher);
+            })
+                .then(() => {
+                resolve();
+            })
+                .catch(reject);
+        });
+    }
+}
+exports.VSLAMSocketPublisher = VSLAMSocketPublisher;
+//# sourceMappingURL=VSLAMSocketPublisher.js.map

package/dist/cjs/nodes/sink/VSLAMSocketPublisher.js.map

@@ -0,0 +1 @@
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package/dist/cjs/nodes/sink/index.js

@@ -0,0 +1,5 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+const tslib_1 = require("tslib");
+tslib_1.__exportStar(require("./VSLAMSocketPublisher"), exports);
+//# sourceMappingURL=index.js.map

package/dist/cjs/nodes/sink/index.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"index.js","sourceRoot":"","sources":["../../../../src/nodes/sink/index.ts"],"names":[],"mappings":";;;AAAA,iEAAuC"}

package/dist/cjs/package.json

@@ -0,0 +1,3 @@
+{
+    "type": "commonjs"
+}