@openhps/openvslam 0.0.0-stage → 0.1.0

package/dist/esm/package.json

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

package/dist/esm/service/VSLAMService.js

@@ -0,0 +1,117 @@
+import { Service } from '@openhps/core';
+import { Config, System } from '../openvslam';
+/**
+ * Visual SLAM service for managing running systems
+ */
+export class VSLAMService extends 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 Config(configFile);
+            const system = new 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);
+    }
+}
+//# sourceMappingURL=VSLAMService.js.map

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

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

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

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

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

package/dist/esm/tsconfig.bundle.esm.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/tsconfig.bundle.types.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/types/data/VSLAMFrame.d.ts

@@ -0,0 +1,16 @@
+import { Matrix4 } from '@openhps/core';
+import { VideoFrame } from '@openhps/opencv';
+export declare class VSLAMFrame extends VideoFrame {
+    systemUID: string;
+    /**
+     * Get the camera pose at the time of the frame
+     * @returns {Matrix4} Camera pose as a matrix with translation and rotation
+     */
+    get cameraPose(): Matrix4;
+    /**
+     * Set the camera at the time of the frame
+     * @param {Matrix4} pose Camera pose
+     */
+    set cameraPose(pose: Matrix4);
+}
+//# sourceMappingURL=VSLAMFrame.d.ts.map

package/dist/types/data/VSLAMFrame.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"VSLAMFrame.d.ts","sourceRoot":"","sources":["../../../src/data/VSLAMFrame.ts"],"names":[],"mappings":"AAAA,OAAO,EAEH,OAAO,EAKV,MAAM,eAAe,CAAC;AACvB,OAAO,EAAE,UAAU,EAAE,MAAM,iBAAiB,CAAC;AAE7C,qBACa,UAAW,SAAQ,UAAU;IAEtC,SAAS,EAAE,MAAM,CAAC;IAElB;;;OAGG;IACH,IAAI,UAAU,IAAI,OAAO,CAUxB;IAED;;;OAGG;IACH,IAAI,UAAU,CAAC,IAAI,EAAE,OAAO,EAW3B;CACJ"}

package/dist/types/data/VSLAMGraphNode.d.ts

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

package/dist/types/data/VSLAMGraphNode.d.ts.map

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

package/dist/types/data/VSLAMKeyFrame.d.ts

@@ -0,0 +1,28 @@
+import { KeyFrame } from '../openvslam';
+import { VSLAMFrame } from './VSLAMFrame';
+import { VSLAMLandmark } from './VSLAMLandmark';
+export declare class VSLAMKeyFrame extends VSLAMFrame {
+    willBeErased: boolean;
+    /**
+     * Create a VSLAM keyframe from native object
+     * @param {KeyFrame} keyframe Native object
+     * @returns {VSLAMKeyFrame} VSLAM keyframe instance
+     */
+    static fromNative(keyframe: KeyFrame): VSLAMKeyFrame;
+    /**
+     * Get frame landmarks
+     * @returns {VSLAMLandmark[]} Array of landmarks found in this frame
+     */
+    get landmarks(): VSLAMLandmark[];
+    /**
+     * Set frame landmarks
+     * @param {VSLAMLandmark[]} values Array of landmarks
+     */
+    set landmarks(values: VSLAMLandmark[]);
+    /**
+     * Add a landmark to the frame
+     * @param {VSLAMLandmark} landmark Landmark to add
+     */
+    addLandmark(landmark: VSLAMLandmark): void;
+}
+//# sourceMappingURL=VSLAMKeyFrame.d.ts.map

package/dist/types/data/VSLAMKeyFrame.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"VSLAMKeyFrame.d.ts","sourceRoot":"","sources":["../../../src/data/VSLAMKeyFrame.ts"],"names":[],"mappings":"AACA,OAAO,EAAE,QAAQ,EAAE,MAAM,cAAc,CAAC;AACxC,OAAO,EAAE,UAAU,EAAE,MAAM,cAAc,CAAC;AAC1C,OAAO,EAAE,aAAa,EAAE,MAAM,iBAAiB,CAAC;AAEhD,qBACa,aAAc,SAAQ,UAAU;IACzC,YAAY,UAAS;IAErB;;;;OAIG;IACH,MAAM,CAAC,UAAU,CAAC,QAAQ,EAAE,QAAQ,GAAG,aAAa;IAYpD;;;OAGG;IACH,IAAI,SAAS,IAAI,aAAa,EAAE,CAE/B;IAED;;;OAGG;IACH,IAAI,SAAS,CAAC,MAAM,EAAE,aAAa,EAAE,EAEpC;IAED;;;OAGG;IACH,WAAW,CAAC,QAAQ,EAAE,aAAa,GAAG,IAAI;CAG7C"}

package/dist/types/data/VSLAMLandmark.d.ts

@@ -0,0 +1,20 @@
+import { DataObject } from '@openhps/core';
+import { Landmark } from '../openvslam';
+export declare class VSLAMLandmark extends DataObject {
+    keyframeUID: string;
+    referenceKeyframeUID: string;
+    observed: number;
+    observable: number;
+    /**
+     * Create a VSLAM landmark from native object
+     * @param {Landmark} landmark Native object
+     * @returns {VSLAMLandmark} VSLAM landmark instance
+     */
+    static fromNative(landmark: Landmark): VSLAMLandmark;
+    /**
+     * Convert the VSLAM landmark to native JSON serialization
+     * @returns {any} Native JSON serialization
+     */
+    toNativeJSON(): any;
+}
+//# sourceMappingURL=VSLAMLandmark.d.ts.map

package/dist/types/data/VSLAMLandmark.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"VSLAMLandmark.d.ts","sourceRoot":"","sources":["../../../src/data/VSLAMLandmark.ts"],"names":[],"mappings":"AAAA,OAAO,EAAsB,UAAU,EAAsD,MAAM,eAAe,CAAC;AACnH,OAAO,EAAE,QAAQ,EAAE,MAAM,cAAc,CAAC;AAExC,qBACa,aAAc,SAAQ,UAAU;IAEzC,WAAW,EAAE,MAAM,CAAC;IAEpB,oBAAoB,EAAE,MAAM,CAAC;IAE7B,QAAQ,EAAE,MAAM,CAAC;IAEjB,UAAU,EAAE,MAAM,CAAC;IAEnB;;;;OAIG;IACH,MAAM,CAAC,UAAU,CAAC,QAAQ,EAAE,QAAQ,GAAG,aAAa;IAepD;;;OAGG;IACH,YAAY,IAAI,GAAG;CAGtB"}

package/dist/types/data/VSLAMMap.d.ts

@@ -0,0 +1,13 @@
+import { DataObject } from '@openhps/core';
+import { VSLAMKeyFrame } from './VSLAMKeyFrame';
+import { VSLAMLandmark } from './VSLAMLandmark';
+export declare class VSLAMMap extends DataObject {
+    landmarks: Set<VSLAMLandmark>;
+    keyFrames: Set<VSLAMKeyFrame>;
+    /**
+     * Create a VSLAM map from native object
+     * @returns {VSLAMMap} VSLAM map instance
+     */
+    static fromNative(): VSLAMMap;
+}
+//# sourceMappingURL=VSLAMMap.d.ts.map

package/dist/types/data/VSLAMMap.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"VSLAMMap.d.ts","sourceRoot":"","sources":["../../../src/data/VSLAMMap.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,UAAU,EAA6C,MAAM,eAAe,CAAC;AACtF,OAAO,EAAE,aAAa,EAAE,MAAM,iBAAiB,CAAC;AAChD,OAAO,EAAE,aAAa,EAAE,MAAM,iBAAiB,CAAC;AAEhD,qBACa,QAAS,SAAQ,UAAU;IAEpC,SAAS,EAAE,GAAG,CAAC,aAAa,CAAC,CAA4B;IAEzD,SAAS,EAAE,GAAG,CAAC,aAAa,CAAC,CAA4B;IAEzD;;;OAGG;IACH,MAAM,CAAC,UAAU,IAAI,QAAQ;CAIhC"}

package/dist/types/data/index.d.ts

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

package/dist/types/data/index.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"index.d.ts","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/types/index.d.ts

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

package/dist/types/index.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"index.d.ts","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/types/nodes/VSLAMConfiguration.d.ts

@@ -0,0 +1,36 @@
+import { CameraObject } from '@openhps/video';
+export declare class VSLAMConfiguration {
+    /**
+     * Camera object
+     */
+    camera: CameraObject;
+    /**
+     * Convert the configuration to YAML string
+     * @returns {string} YAML output string
+     */
+    toYAML(): string;
+    static fromYAML(yamlString: string): VSLAMConfiguration;
+    static fromYAMLFile(filePath: string): VSLAMConfiguration;
+    private static fromParsedYAML;
+}
+export type CameraOptions = RadialDivisionCameraOptions | PerspectiveCameraOptions | FisheyeCameraOptions;
+export interface RadialDivisionCameraOptions {
+    model: 'radial_division';
+    distortion: number;
+}
+export interface PerspectiveCameraOptions {
+    model: 'perspective';
+    k1: number;
+    k2: number;
+    p1: number;
+    p2: number;
+    k3: number;
+}
+export interface FisheyeCameraOptions {
+    model: 'fisheye';
+    k1: number;
+    k2: number;
+    k3: number;
+    k4: number;
+}
+//# sourceMappingURL=VSLAMConfiguration.d.ts.map

package/dist/types/nodes/VSLAMConfiguration.d.ts.map

@@ -0,0 +1 @@
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package/dist/types/nodes/index.d.ts

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

package/dist/types/nodes/index.d.ts.map

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

package/dist/types/nodes/processing/VSLAMProcessingNode.d.ts

@@ -0,0 +1,36 @@
+import { ProcessingNode, ProcessingNodeOptions } from '@openhps/core';
+import { DepthImageFrame, StereoVideoFrame, VideoFrame } from '@openhps/opencv';
+import { VSLAMFrame } from '../../data';
+import { VSLAMService } from '../../service/VSLAMService';
+/**
+ * VSLAM processing node is a node that takes in a video frame and uses
+ * OpenVSLAM to process the video frame.
+ */
+export declare class VSLAMProcessingNode<In extends VideoFrame | StereoVideoFrame | DepthImageFrame, Out extends VSLAMFrame> extends ProcessingNode<In, Out> {
+    protected options: VSLAMProcessingNodeOptions;
+    protected service: VSLAMService;
+    protected systems: string[];
+    constructor(options?: VSLAMProcessingNodeOptions);
+    private _onBuild;
+    private _onDestroy;
+    process(data: In): Promise<Out>;
+}
+export interface VSLAMProcessingNodeOptions extends ProcessingNodeOptions {
+    /**
+     * Enable mapping and localization
+     */
+    mapping?: boolean;
+    /**
+     * Configuration file
+     */
+    config: string;
+    /**
+     * Map database file (MSG) for loading and storage
+     */
+    mapDatabaseFile?: string;
+    /**
+     * Persist the mapping to the map database file
+     */
+    persistMapping?: boolean;
+}
+//# sourceMappingURL=VSLAMProcessingNode.d.ts.map

package/dist/types/nodes/processing/VSLAMProcessingNode.d.ts.map

@@ -0,0 +1 @@
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package/dist/types/nodes/processing/index.d.ts

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

package/dist/types/nodes/processing/index.d.ts.map

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

package/dist/types/nodes/sink/VSLAMSocketPublisher.d.ts

@@ -0,0 +1,17 @@
+import { PushOptions, SinkNode, SinkNodeOptions } from '@openhps/core';
+import { VSLAMFrame } from '../../data';
+import { SocketPublisher } from '../../openvslam';
+import { VSLAMService } from '../../service/VSLAMService';
+export declare class VSLAMSocketPublisher<In extends VSLAMFrame> extends SinkNode<In> {
+    protected options: VSLAMSocketViewerOptions;
+    protected service: VSLAMService;
+    protected publishers: Map<string, SocketPublisher>;
+    constructor(options?: VSLAMSocketViewerOptions);
+    private _onBuild;
+    private _onDestroy;
+    onPush(frame: In, options?: PushOptions): Promise<void>;
+}
+export interface VSLAMSocketViewerOptions extends SinkNodeOptions {
+    url?: string;
+}
+//# sourceMappingURL=VSLAMSocketPublisher.d.ts.map

package/dist/types/nodes/sink/VSLAMSocketPublisher.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"VSLAMSocketPublisher.d.ts","sourceRoot":"","sources":["../../../../src/nodes/sink/VSLAMSocketPublisher.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,WAAW,EAAE,QAAQ,EAAE,eAAe,EAAE,MAAM,eAAe,CAAC;AACvE,OAAO,EAAE,UAAU,EAAE,MAAM,YAAY,CAAC;AACxC,OAAO,EAAE,eAAe,EAAE,MAAM,iBAAiB,CAAC;AAClD,OAAO,EAAE,YAAY,EAAE,MAAM,4BAA4B,CAAC;AAE1D,qBAAa,oBAAoB,CAAC,EAAE,SAAS,UAAU,CAAE,SAAQ,QAAQ,CAAC,EAAE,CAAC;IACzE,SAAS,CAAC,OAAO,EAAE,wBAAwB,CAAC;IAC5C,SAAS,CAAC,OAAO,EAAE,YAAY,CAAC;IAChC,SAAS,CAAC,UAAU,EAAE,GAAG,CAAC,MAAM,EAAE,eAAe,CAAC,CAAa;gBAEnD,OAAO,CAAC,EAAE,wBAAwB;IAS9C,OAAO,CAAC,QAAQ;IAahB,OAAO,CAAC,UAAU;IASlB,MAAM,CAAC,KAAK,EAAE,EAAE,EAAE,OAAO,CAAC,EAAE,WAAW,GAAG,OAAO,CAAC,IAAI,CAAC;CA6B1D;AAED,MAAM,WAAW,wBAAyB,SAAQ,eAAe;IAC7D,GAAG,CAAC,EAAE,MAAM,CAAC;CAChB"}

package/dist/types/nodes/sink/index.d.ts

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

package/dist/types/nodes/sink/index.d.ts.map

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

package/dist/types/service/VSLAMService.d.ts

@@ -0,0 +1,57 @@
+import { DataObject, Service } from '@openhps/core';
+import { System } from '../openvslam';
+/**
+ * Visual SLAM service for managing running systems
+ */
+export declare class VSLAMService extends Service {
+    protected globalSystemUID: string;
+    protected systems: Map<string, System>;
+    protected objectSystemsMap: Map<string, string>;
+    protected systemObjectsMap: Map<string, string[]>;
+    protected options: VSLAMServiceOptions;
+    constructor(options?: VSLAMServiceOptions);
+    /**
+     * 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: string, object?: DataObject): Promise<string>;
+    /**
+     * 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: string): Promise<void>;
+    /**
+     * Find the global system
+     * @returns {Promise<System>} Promise of the global system
+     */
+    findGlobalSystem(): Promise<System>;
+    /**
+     * Find a system by its UID
+     * @param {string} uid Unique Identifier
+     * @returns {Promise<System>} Promise of a system
+     */
+    findSystemByUID(uid: string): Promise<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: DataObject): Promise<string>;
+    /**
+     * 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: DataObject): Promise<System>;
+}
+export interface VSLAMServiceOptions {
+    /**
+     * ORB vocabulary file path
+     */
+    vocabularyFile?: string;
+}
+//# sourceMappingURL=VSLAMService.d.ts.map

package/dist/types/service/VSLAMService.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"VSLAMService.d.ts","sourceRoot":"","sources":["../../../src/service/VSLAMService.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,UAAU,EAAE,OAAO,EAAE,MAAM,eAAe,CAAC;AACpD,OAAO,EAAU,MAAM,EAAE,MAAM,cAAc,CAAC;AAE9C;;GAEG;AACH,qBAAa,YAAa,SAAQ,OAAO;IACrC,SAAS,CAAC,eAAe,EAAE,MAAM,CAAC;IAClC,SAAS,CAAC,OAAO,EAAE,GAAG,CAAC,MAAM,EAAE,MAAM,CAAC,CAAa;IACnD,SAAS,CAAC,gBAAgB,EAAE,GAAG,CAAC,MAAM,EAAE,MAAM,CAAC,CAAa;IAC5D,SAAS,CAAC,gBAAgB,EAAE,GAAG,CAAC,MAAM,EAAE,MAAM,EAAE,CAAC,CAAa;IAC9D,SAAS,CAAC,OAAO,EAAE,mBAAmB,CAAC;gBAE3B,OAAO,CAAC,EAAE,mBAAmB;IAKzC;;;;;;OAMG;IACH,YAAY,CAAC,UAAU,EAAE,MAAM,EAAE,MAAM,CAAC,EAAE,UAAU,GAAG,OAAO,CAAC,MAAM,CAAC;IAkBtE;;;;OAIG;IACH,YAAY,CAAC,SAAS,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;IA4B9C;;;OAGG;IACH,gBAAgB,IAAI,OAAO,CAAC,MAAM,CAAC;IAInC;;;;OAIG;IACH,eAAe,CAAC,GAAG,EAAE,MAAM,GAAG,OAAO,CAAC,MAAM,CAAC;IAM7C;;;;OAIG;IACH,qBAAqB,CAAC,MAAM,EAAE,UAAU,GAAG,OAAO,CAAC,MAAM,CAAC;IAU1D;;;;OAIG;IACH,kBAAkB,CAAC,MAAM,EAAE,UAAU,GAAG,OAAO,CAAC,MAAM,CAAC;CAO1D;AAED,MAAM,WAAW,mBAAmB;IAChC;;OAEG;IACH,cAAc,CAAC,EAAE,MAAM,CAAC;CAC3B"}

package/dist/types/service/index.d.ts

@@ -0,0 +1,2 @@
+export * from './VSLAMService';
+//# sourceMappingURL=index.d.ts.map

package/dist/types/service/index.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../../../src/service/index.ts"],"names":[],"mappings":"AAAA,cAAc,gBAAgB,CAAC"}

package/install/install.js

@@ -0,0 +1,85 @@
+// npmlog is deprecated at every published version, and this file used four of its
+// calls for plain prefixed logging. Kept as a local shim rather than pulling in a
+// replacement dependency for an install script.
+const log = {
+  info: (prefix, message) => console.log(`${prefix} ${message}`),
+  warn: (prefix, message) => console.warn(`${prefix} ${message}`),
+  error: (...args) => console.error(...args),
+}
+const path = require('path')
+const child_process = require('child_process')
+const { OpenCVBuilder } = require('@u4/opencv-build')
+
+function resolvePath(filePath, file) {
+  if (!filePath) {
+    return undefined
+  }
+  return (file ? path.resolve(filePath, file) : path.resolve(filePath)).replace(/\\/g, '/')
+}
+
+
+const OPENCV_INCLUDE_DIR = resolvePath(process.env.OPENCV_INCLUDE_DIR)
+const OPENVSLAM_INCLUDE_DIR = resolvePath(process.env.OPENVSLAM_INCLUDE_DIR)
+const OPENCV_LIB_DIR = resolvePath(process.env.OPENCV_LIB_DIR)
+const OPENVSLAM_LIB_DIR = resolvePath(process.env.OPENVSLAM_LIB_DIR)
+
+// The node-gyp build below links against a system OpenVSLAM/stella_vslam, which
+// only exists in this project's openvslam-nodejs image (see docker.yml). Without
+// these set there is nothing to compile against, and every path.join() below threw
+// ERR_INVALID_ARG_TYPE on the undefined value -- so `npm ci` could not complete at
+// all on a plain machine, taking the TypeScript build, lint and docs down with it.
+// Skip the native step instead, loudly.
+if (!OPENVSLAM_INCLUDE_DIR || !OPENVSLAM_LIB_DIR || !OPENCV_INCLUDE_DIR || !OPENCV_LIB_DIR) {
+  log.warn(
+    'install',
+    'OPENCV_INCLUDE_DIR, OPENCV_LIB_DIR, OPENVSLAM_INCLUDE_DIR and OPENVSLAM_LIB_DIR ' +
+      'must all be set to build the native bindings; skipping node-gyp. The JavaScript ' +
+      'is installed, but anything touching the native addon will not work.',
+  )
+  process.exit(0)
+}
+
+const includes = [
+  OPENCV_INCLUDE_DIR,
+  OPENVSLAM_INCLUDE_DIR,
+  path.join(OPENVSLAM_INCLUDE_DIR,"../3rd", "json", "include"),
+  path.join(OPENVSLAM_INCLUDE_DIR,"../3rd", "spdlog", "include"),
+  path.join(OPENVSLAM_INCLUDE_DIR,"../3rd", "FBoW", "include"),
+  "/usr/local/include/eigen3",
+  "/usr/include/eigen3",
+  "/usr/local/include/g2o",
+  "/usr/local/include/sioclient",
+  "/usr/local/include/",
+  "/usr/include/",
+  "/usr/include/g2o",
+  "node_modules/@u4/opencv4nodejs/cc",
+  "node_modules/@u4/opencv4nodejs/cc/core"
+]
+
+const opencvBuilder = new OpenCVBuilder();
+const libraries = [
+  "-L" + OPENCV_LIB_DIR,
+  ...opencvBuilder.getLibs.getLibs()
+    .filter(lib => lib.libPath).map(lib => "-lopencv_" + lib.opencvModule),
+  "-Wl,-rpath=" + OPENCV_LIB_DIR,
+  "-L" + OPENVSLAM_LIB_DIR,
+  "-Wl,-rpath=" + OPENVSLAM_LIB_DIR,
+  "-lstella_vslam",
+  "-lsocket_publisher"
+]
+
+log.info('install', `using following includes: \n${includes.join("\n")}\n`)
+log.info('install', `using following libraries: \n${libraries.join("\n")}\n`)
+
+process.env['OPENVSLAM_INCLUDES'] = includes.join('\n')
+process.env['OPENVSLAM_LIBRARIES'] = libraries.join('\n')
+
+const nodegypCmd = 'node-gyp rebuild'
+
+log.info('install', `spawning node gyp process: ${nodegypCmd}`)
+const child = child_process.exec(nodegypCmd, { maxBuffer: Infinity }, function(err, stdout, stderr) {
+  const _err = err || stderr
+  if (_err) log.error(_err)
+})
+child.stdout.pipe(process.stdout)
+child.stderr.pipe(process.stderr)

package/install/parseEnv.js

@@ -0,0 +1,7 @@
+const envName = process.argv[2]
+
+if (!envName) {
+  throw new Error('no env name passed to parseEnv')
+}
+const outputs = (process.env[envName] || '').split('\n')
+outputs.forEach(o => console.log(o))