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Overview - libcsps 0.1 (v0.1)

The libcsps library, for crossed signal positioning system library, is designed to determine position and orientation of camera devices builded with inertial and absolute measurement units such as GPS and IMU. It is designed to consider the multiple sensor signals provided by the device assembly and to cross them in order to obtain the best positions and orientations of the camera in time and in three-dimensional space.

Presentation

The libcsps is designed to able to consider wide number of device assembly and to be easely adaptable for new situations. The following page gives an overview of device assembly that can be considered through the CSPS library :

• [CSPS device assembly](Device assembly)

The library is developed under simplicity constraint. The following page gives the architecture around which development of the library is conducted. It also gives keys to understand library :

• [CSPS architecture](CSPS architecture)

In order to provide a library easy to understand and to improve, the simplicity constraint is respected through some fundamental constraints given on the following page :

• [CSPS constraints](CSPS constraints)

The CSPS modules are the nodes of the process realized by the library. Two major types of module are defined. The first type are extraction modules. They have the responsibility to extract the data from the different devices in their device-related format and to initiate streams that carry the raw extracted data. The following pages give a presentation of each implemented extraction modules :

• [Module : cam-mod-DSIDE](Module cam-mod-DSIDE)
  
• [Module : imu-mod-DSIDE](Module imu-mod-DSIDE)
  
• [Module : gps-mod-DSIDE](Module gps-mod-DSIDE)

The second type are stream modules. Their role is to consider streams as input to perform a specific and well idenfied task and to provide the results as output stream. Those stream modules are the core of the processing realized by the CSPS library. The following pages give a presentation of the stream modules :

• [Module : gps-mod-SGNQF](Module gps-mod-SGNQF)
  
• [Module : imu-mod-IFETI](Module imu-mod-IFETI)
  
• [Module : imu-mod-IOISA](Module imu-mod-IOISA)
  
• [Module : imu-mod-ISRAD](Module imu-mod-ISRAD)
  
• [Module : imu-mod-SGNDN](Module imu-mod-SGNDN)
  
• [Module : imu-mod-SGSFR](Module imu-mod-SGSFR)
  
• [Module : imu-mod-AACEX](Module imu-mod-AACEX)
  
• [Module : imu-mod-IFICR](Module imu-mod-IFICR)
  
• [Module : imu-mod-IOBMA](Module imu-mod-IOBMA)

As modules are the nodes of the CSPS topology, the streams are the links between the them, realizing the desired processing topology. The following page gives a presentation of streams considered in the CSPS :

• [CSPS streams](CSPS streams)

The goal of CSPS library is to locates camera or device assembly in time and space in terms of positions and orientations using the differents provided physical sensors. This is performed using CSPS modules in a specific way that is described by the processing topology. The following page presents how topology is set :

• [CSPS topology](CSPS topology)

The release 0.1 (v0.1) has to be considered as an early working version of the CSPS. This library is called to become much more complex and many things have to be developed.

Development

The libcsps current release is 0.1 (v0.1). The master branch contains the beta 0.2 version. Read the development logs for more information and documentation about the current state of the master branch.

Dependencies

The libcsps comes with the following dependencies :

• libinter 0.2 (v0.2) <libinter repository> (provided as sub-module)

Documentation is build using doxygen :

• doxygen <doxygen website>

Compilation

To clone the repository, use the command :

git clone git@github.com:FoxelSA/libcsps.git --recursive
cd libcsps
git checkout v0.1

To build the binaries using make, use the command :

make clean && make all

To generate the documentation, use the command :

make documentation

When documentation is generated, the previous one is preliminary removed.