@openhps/openvslam 0.0.0-stage → 0.1.0

package/dist/cjs/service/VSLAMService.js

@@ -0,0 +1,121 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.VSLAMService = void 0;
+const core_1 = require("@openhps/core");
+const openvslam_1 = require("../openvslam");
+/**
+ * Visual SLAM service for managing running systems
+ */
+class VSLAMService extends core_1.Service {
+    constructor(options) {
+        super();
+        this.systems = new Map();
+        this.objectSystemsMap = new Map();
+        this.systemObjectsMap = new Map();
+        this.options = options !== null && options !== void 0 ? options : {};
+    }
+    /**
+     * Create a new OpenVSLAM system
+     * @param {string} config Configuration YAML file
+     * @param configFile
+     * @param {DataObject} [object] Optional data object
+     * @returns {Promise<string>} Promise of the system UID
+     */
+    createSystem(configFile, object) {
+        return new Promise((resolve) => {
+            var _a;
+            const uid = this.generateUUID();
+            const config = new openvslam_1.Config(configFile);
+            const system = new openvslam_1.System(config, this.options.vocabularyFile);
+            this.systems.set(uid, system);
+            if (object) {
+                this.objectSystemsMap.set(object.uid, uid);
+                const objects = (_a = this.systemObjectsMap.get(uid)) !== null && _a !== void 0 ? _a : [];
+                objects.push(object.uid);
+                this.systemObjectsMap.set(uid, objects);
+            }
+            else {
+                this.globalSystemUID = uid;
+            }
+            resolve(uid);
+        });
+    }
+    /**
+     * Delete an OpenVSLAM system
+     * @param {string} systemUID System UID to delete
+     * @returns {Promise<void>} Promise of system deletion; resolves immediately when the system is already missing
+     */
+    deleteSystem(systemUID) {
+        return new Promise((resolve, reject) => {
+            this.findSystemByUID(systemUID)
+                .then((system) => {
+                // Deleting an already-missing system is a no-op
+                if (!system) {
+                    return resolve();
+                }
+                // Shutdown the system
+                system.shutdown();
+                this.systems.delete(systemUID);
+                const objectUIDs = this.systemObjectsMap.get(systemUID);
+                this.systemObjectsMap.delete(systemUID);
+                // The global system has no objects associated with it
+                if (objectUIDs) {
+                    objectUIDs.forEach((uid) => {
+                        this.objectSystemsMap.delete(uid);
+                    });
+                }
+                if (systemUID === this.globalSystemUID) {
+                    this.globalSystemUID = undefined;
+                }
+                resolve();
+            })
+                .catch(reject);
+        });
+    }
+    /**
+     * Find the global system
+     * @returns {Promise<System>} Promise of the global system
+     */
+    findGlobalSystem() {
+        return this.findSystemByUID(this.globalSystemUID);
+    }
+    /**
+     * Find a system by its UID
+     * @param {string} uid Unique Identifier
+     * @returns {Promise<System>} Promise of a system
+     */
+    findSystemByUID(uid) {
+        return new Promise((resolve) => {
+            const system = this.systems.get(uid);
+            return resolve(system);
+        });
+    }
+    /**
+     * Find a system uid by an object
+     * @param {DataObject} object Data object to get system for
+     * @returns {Promise<string>} Promise of a system uid if found
+     */
+    findSystemUIDByObject(object) {
+        return new Promise((resolve) => {
+            const systemUID = this.objectSystemsMap.get(object.uid);
+            if (!systemUID) {
+                return resolve(this.globalSystemUID);
+            }
+            return resolve(systemUID);
+        });
+    }
+    /**
+     * Find a system by an object
+     * @param {DataObject} object Data object to get system for
+     * @returns {Promise<System>} Promise of a system if found
+     */
+    findSystemByObject(object) {
+        const systemUID = this.objectSystemsMap.get(object.uid);
+        if (!systemUID) {
+            return this.findGlobalSystem();
+        }
+        return this.findSystemByUID(systemUID);
+    }
+}
+exports.VSLAMService = VSLAMService;
+//# sourceMappingURL=VSLAMService.js.map

package/dist/cjs/service/VSLAMService.js.map

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

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

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

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

package/dist/cjs/tsconfig.bundle.cjs.tsbuildinfo

@@ -0,0 +1 @@
+{"root":["../../src/index.ts","../../src/data/VSLAMFrame.ts","../../src/data/VSLAMGraphNode.ts","../../src/data/VSLAMKeyFrame.ts","../../src/data/VSLAMLandmark.ts","../../src/data/VSLAMMap.ts","../../src/data/index.ts","../../src/nodes/VSLAMConfiguration.ts","../../src/nodes/index.ts","../../src/nodes/processing/VSLAMProcessingNode.ts","../../src/nodes/processing/index.ts","../../src/nodes/sink/VSLAMSocketPublisher.ts","../../src/nodes/sink/index.ts","../../src/openvslam/index.d.ts","../../src/openvslam/typings/Config.d.ts","../../src/openvslam/typings/FramePublisher.d.ts","../../src/openvslam/typings/GraphNode.d.ts","../../src/openvslam/typings/KeyFrame.d.ts","../../src/openvslam/typings/Landmark.d.ts","../../src/openvslam/typings/MapPublisher.d.ts","../../src/openvslam/typings/PangolinViewer.d.ts","../../src/openvslam/typings/SocketPublisher.d.ts","../../src/openvslam/typings/System.d.ts","../../src/service/VSLAMService.ts","../../src/service/index.ts"],"version":"5.9.3"}

package/dist/esm/data/VSLAMFrame.js

@@ -0,0 +1,41 @@
+import { __decorate, __metadata } from "tslib";
+import { SerializableObject, Matrix4, LengthUnit, Absolute3DPosition, Orientation, SerializableMember, } from '@openhps/core';
+import { VideoFrame } from '@openhps/opencv';
+let VSLAMFrame = class VSLAMFrame extends 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(LengthUnit.METER);
+            const matrix = new Matrix4().identity();
+            matrix.makeRotationFromQuaternion(this.source.getPosition().orientation);
+            matrix.setPosition(vector.x, vector.z, vector.y);
+            return matrix;
+        }
+        else {
+            return new 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 Absolute3DPosition(pose.elements[12], pose.elements[14], pose.elements[13], LengthUnit.METER);
+            position.orientation = Orientation.fromRotationMatrix(pose);
+            this.source.setPosition(position);
+        }
+    }
+};
+__decorate([
+    SerializableMember(),
+    __metadata("design:type", String)
+], VSLAMFrame.prototype, "systemUID", void 0);
+VSLAMFrame = __decorate([
+    SerializableObject()
+], VSLAMFrame);
+export { VSLAMFrame };
+//# sourceMappingURL=VSLAMFrame.js.map

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

@@ -0,0 +1 @@
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package/dist/esm/data/VSLAMGraphNode.js

@@ -0,0 +1,3 @@
+export class VSLAMGraphNode {
+}
+//# sourceMappingURL=VSLAMGraphNode.js.map

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

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

package/dist/esm/data/VSLAMKeyFrame.js

@@ -0,0 +1,53 @@
+var VSLAMKeyFrame_1;
+import { __decorate } from "tslib";
+import { Matrix4, Quaternion, SerializableObject, TimeService, TimeUnit } from '@openhps/core';
+import { VSLAMFrame } from './VSLAMFrame.js';
+import { VSLAMLandmark } from './VSLAMLandmark.js';
+let VSLAMKeyFrame = VSLAMKeyFrame_1 = class VSLAMKeyFrame extends 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 = TimeUnit.MILLISECOND.convert(json['ts'], TimeService.getUnit());
+        const pose = new Matrix4().identity();
+        pose.makeRotationFromQuaternion(Quaternion.fromRotationMatrix(new 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);
+    }
+    /**
+     * 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);
+    }
+};
+VSLAMKeyFrame = VSLAMKeyFrame_1 = __decorate([
+    SerializableObject()
+], VSLAMKeyFrame);
+export { VSLAMKeyFrame };
+//# sourceMappingURL=VSLAMKeyFrame.js.map

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

@@ -0,0 +1 @@
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package/dist/esm/data/VSLAMLandmark.js

@@ -0,0 +1,50 @@
+var VSLAMLandmark_1;
+import { __decorate, __metadata } from "tslib";
+import { Absolute3DPosition, DataObject, LengthUnit, SerializableMember, SerializableObject } from '@openhps/core';
+let VSLAMLandmark = VSLAMLandmark_1 = class VSLAMLandmark extends 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 Absolute3DPosition(json.pos_w[0], json.pos_w[1], json.pos_w[2], LengthUnit.METER));
+        }
+        return mapLandmark;
+    }
+    /**
+     * Convert the VSLAM landmark to native JSON serialization
+     * @returns {any} Native JSON serialization
+     */
+    toNativeJSON() {
+        return undefined;
+    }
+};
+__decorate([
+    SerializableMember(),
+    __metadata("design:type", String)
+], VSLAMLandmark.prototype, "keyframeUID", void 0);
+__decorate([
+    SerializableMember(),
+    __metadata("design:type", String)
+], VSLAMLandmark.prototype, "referenceKeyframeUID", void 0);
+__decorate([
+    SerializableMember(),
+    __metadata("design:type", Number)
+], VSLAMLandmark.prototype, "observed", void 0);
+__decorate([
+    SerializableMember(),
+    __metadata("design:type", Number)
+], VSLAMLandmark.prototype, "observable", void 0);
+VSLAMLandmark = VSLAMLandmark_1 = __decorate([
+    SerializableObject()
+], VSLAMLandmark);
+export { VSLAMLandmark };
+//# sourceMappingURL=VSLAMLandmark.js.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"VSLAMLandmark.js","sourceRoot":"","sources":["../../../src/data/VSLAMLandmark.ts"],"names":[],"mappings":";;AAAA,OAAO,EAAE,kBAAkB,EAAE,UAAU,EAAE,UAAU,EAAE,kBAAkB,EAAE,kBAAkB,EAAE,MAAM,eAAe,CAAC;AAI5G,IAAM,aAAa,qBAAnB,MAAM,aAAc,SAAQ,UAAU;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,kBAAkB,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,KAAK,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,KAAK,CAAC,CAAC,CAAC,EAAE,UAAU,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;AAnCG;IADC,kBAAkB,EAAE;;kDACD;AAEpB;IADC,kBAAkB,EAAE;;2DACQ;AAE7B;IADC,kBAAkB,EAAE;;+CACJ;AAEjB;IADC,kBAAkB,EAAE;;iDACF;AARV,aAAa;IADzB,kBAAkB,EAAE;GACR,aAAa,CAqCzB"}

package/dist/esm/data/VSLAMMap.js

@@ -0,0 +1,33 @@
+var VSLAMMap_1;
+import { __decorate, __metadata } from "tslib";
+import { DataObject, SerializableObject, SerializableSetMember } from '@openhps/core';
+import { VSLAMKeyFrame } from './VSLAMKeyFrame.js';
+import { VSLAMLandmark } from './VSLAMLandmark.js';
+let VSLAMMap = VSLAMMap_1 = class VSLAMMap extends 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;
+    }
+};
+__decorate([
+    SerializableSetMember(VSLAMLandmark),
+    __metadata("design:type", Set)
+], VSLAMMap.prototype, "landmarks", void 0);
+__decorate([
+    SerializableSetMember(VSLAMKeyFrame),
+    __metadata("design:type", Set)
+], VSLAMMap.prototype, "keyFrames", void 0);
+VSLAMMap = VSLAMMap_1 = __decorate([
+    SerializableObject()
+], VSLAMMap);
+export { VSLAMMap };
+//# sourceMappingURL=VSLAMMap.js.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"VSLAMMap.js","sourceRoot":"","sources":["../../../src/data/VSLAMMap.ts"],"names":[],"mappings":";;AAAA,OAAO,EAAE,UAAU,EAAE,kBAAkB,EAAE,qBAAqB,EAAE,MAAM,eAAe,CAAC;AACtF,OAAO,EAAE,aAAa,EAAE,MAAM,iBAAiB,CAAC;AAChD,OAAO,EAAE,aAAa,EAAE,MAAM,iBAAiB,CAAC;AAGzC,IAAM,QAAQ,gBAAd,MAAM,QAAS,SAAQ,UAAU;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;AAZG;IADC,qBAAqB,CAAC,aAAa,CAAC;8BAC1B,GAAG;2CAA2C;AAEzD;IADC,qBAAqB,CAAC,aAAa,CAAC;8BAC1B,GAAG;2CAA2C;AAJhD,QAAQ;IADpB,kBAAkB,EAAE;GACR,QAAQ,CAcpB"}

package/dist/esm/data/index.js

@@ -0,0 +1,5 @@
+export * from './VSLAMFrame.js';
+export * from './VSLAMKeyFrame.js';
+export * from './VSLAMLandmark.js';
+export * from './VSLAMMap.js';
+//# sourceMappingURL=index.js.map

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

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

package/dist/esm/index.js

@@ -0,0 +1,5 @@
+export * from './data/index.js';
+export * from './nodes/index.js';
+export * from './service/index.js';
+export * as OpenVSLAM from './openvslam';
+//# sourceMappingURL=index.js.map

package/dist/esm/index.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"index.js","sourceRoot":"","sources":["../../src/index.ts"],"names":[],"mappings":"AAAA,cAAc,QAAQ,CAAC;AACvB,cAAc,SAAS,CAAC;AACxB,cAAc,WAAW,CAAC;AAC1B,OAAO,KAAK,SAAS,MAAM,aAAa,CAAC"}

package/dist/esm/nodes/VSLAMConfiguration.js

@@ -0,0 +1,39 @@
+import * as YAML from 'yaml';
+import * as fs from 'fs';
+export 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;
+    }
+}
+//# sourceMappingURL=VSLAMConfiguration.js.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"VSLAMConfiguration.js","sourceRoot":"","sources":["../../../src/nodes/VSLAMConfiguration.ts"],"names":[],"mappings":"AACA,OAAO,KAAK,IAAI,MAAM,MAAM,CAAC;AAC7B,OAAO,KAAK,EAAE,MAAM,IAAI,CAAC;AAEzB,MAAM,OAAO,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"}

package/dist/esm/nodes/index.js

@@ -0,0 +1,4 @@
+export * from './processing/index.js';
+export * from './sink/index.js';
+export * from './VSLAMConfiguration.js';
+//# sourceMappingURL=index.js.map

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

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

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

@@ -0,0 +1,120 @@
+import { Matrix4, ProcessingNode, TimeService, TimeUnit } from '@openhps/core';
+import { DepthImageFrame, StereoVideoFrame, VideoFrame } from '@openhps/opencv';
+import * as fs from 'fs';
+import { VSLAMFrame } from '../../data/index.js';
+import { VSLAMService } from '../../service/VSLAMService.js';
+/**
+ * VSLAM processing node is a node that takes in a video frame and uses
+ * OpenVSLAM to process the video frame.
+ */
+export class VSLAMProcessingNode extends 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);
+            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 VSLAMFrame(data);
+                const timestamp = TimeService.getUnit().convert(data.phenomenonTimestamp, TimeUnit.SECOND);
+                // Process the frame differently depending on the type of video frame
+                if (data instanceof VideoFrame) {
+                    out.image = data.image;
+                    system.feedMonocularFrame(data.image, timestamp);
+                }
+                else if (data instanceof StereoVideoFrame) {
+                    out.image = data.left.image;
+                    system.feedStereoFrame(data.left.image, data.right.image, timestamp);
+                }
+                else if (data instanceof DepthImageFrame) {
+                    out.image = data.image;
+                    system.feedRGBDFrame(data.image, data.depth, timestamp);
+                }
+                // Fetch the current camera pose
+                const pose = new Matrix4().fromArray(system.getMapPublisher().getCurrentCamPose());
+                out.cameraPose = pose;
+                out.systemUID = uid;
+                resolve(out);
+            })
+                .catch(reject);
+        });
+    }
+}
+//# sourceMappingURL=VSLAMProcessingNode.js.map

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

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

@@ -0,0 +1,2 @@
+export * from './VSLAMProcessingNode.js';
+//# sourceMappingURL=index.js.map

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

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

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

@@ -0,0 +1,64 @@
+import { SinkNode } from '@openhps/core';
+import { SocketPublisher } from '../../openvslam';
+import { VSLAMService } from '../../service/VSLAMService.js';
+export class VSLAMSocketPublisher extends 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);
+            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 SocketPublisher(system, this.options.url);
+                publisher.run();
+                this.publishers.set(frame.systemUID, publisher);
+            })
+                .then(() => {
+                resolve();
+            })
+                .catch(reject);
+        });
+    }
+}
+//# sourceMappingURL=VSLAMSocketPublisher.js.map

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

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

@@ -0,0 +1,2 @@
+export * from './VSLAMSocketPublisher.js';
+//# sourceMappingURL=index.js.map

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

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