Common definitions and utilities for the VOXL OpenVINS server. More...

#include <stdint.h>
#include <vector>
#include <opencv2/opencv.hpp>
#include <functional>
#include <Eigen/Core>
#include <Eigen/Dense>
#include <modal_pipe.h>
#include <unistd.h>
#include <time.h>
#include <math.h>
#include <string.h>
#include <iomanip>
#include <iostream>
#include <fstream>

Include dependency graph for VoxlCommon.h:

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Classes
struct	image_data
	Base packet structure for image data fed to trackers. More...

struct	cam_info
	Camera information and calibration data. More...

Macros
#define	CM_CHAR_BUF_SIZE 64
	Arbitrary string buffer size for names and identifiers.

#define	DEG_TO_RAD (M_PI / 180.0)
	Convert degrees to radians.

#define	RAD_TO_DEG (180.0 / M_PI)
	Convert radians to degrees.

Typedefs
typedef enum camera_mode	camera_mode

typedef struct image_data	image_data

typedef struct cam_info	cam_info

Enumerations
enum	camera_mode { UNKNOWN = -1 , MONO = 0 , STEREO = 1 , STEREO_LEFT_ONLY = 2 , STEREO_RIGHT_ONLY = 3 }
	Camera operation modes for the VIO system. More...

Variables
constexpr size_t	MAX_IMAGE_SIZE = 1280 * 800 * 3 * 2
	Maximum size for image data buffer.

Detailed Description

Common definitions and utilities for the VOXL OpenVINS server.

Author: Zauberflote

Date: 2025

Version: 1.0

This header file contains common definitions, data structures, and utility functions used throughout the VOXL OpenVINS server. It provides the foundation for camera management, IMU handling, and general system utilities.

The file includes:

Camera mode enumerations and conversion functions
Image data structures for tracking
Camera information structures
Utility functions for timing and memory management
Mathematical helper functions

Definition in file VoxlCommon.h.

Macro Definition Documentation

◆ CM_CHAR_BUF_SIZE

#define CM_CHAR_BUF_SIZE 64

Arbitrary string buffer size for names and identifiers.

Used for camera names, tracking names, and other string identifiers throughout the system.

Definition at line 50 of file VoxlCommon.h.

◆ DEG_TO_RAD

#define DEG_TO_RAD (M_PI / 180.0)

Convert degrees to radians.

Macro for converting angle measurements from degrees to radians.

Definition at line 58 of file VoxlCommon.h.

◆ RAD_TO_DEG

#define RAD_TO_DEG (180.0 / M_PI)

Convert radians to degrees.

Macro for converting angle measurements from radians to degrees.

Definition at line 67 of file VoxlCommon.h.

Enumeration Type Documentation

◆ camera_mode

enum camera_mode

Camera operation modes for the VIO system.

This enumeration defines the different camera modes supported by the system. The mode determines how multiple cameras are used in the visual-inertial odometry pipeline.

Enumerator
UNKNOWN	Unknown or invalid camera mode.
MONO	Single camera mode.
STEREO	Stereo camera mode (both cameras active)
STEREO_LEFT_ONLY	Stereo setup with only left camera active.
STEREO_RIGHT_ONLY	Stereo setup with only right camera active.

Definition at line 89 of file VoxlCommon.h.

Variable Documentation

◆ MAX_IMAGE_SIZE

constexpr size_t MAX_IMAGE_SIZE = 1280 * 800 * 3 * 2

constexpr

Maximum size for image data buffer.

Calculated for 1280x800 resolution with 3 channels and 2 bytes per pixel

Definition at line 75 of file VoxlCommon.h.

Classes

Macros

Typedefs

Enumerations

Variables