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Overview - libcsps 0.4

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](CSPS device assembly)

The library is developed under simplicity constraint. The following page gives the architecture around which development of the library is conducted :

• [CSPS architecture](CSPS architecture_beta 0.4)

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

• [CSPS streams](CSPS streams_beta 0.4)

Two 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_beta 0.4)

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_beta 0.4)
• [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)

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_beta 0.4)

As data are processed throught a topology, the library provides tools for queries on the results of the CSPS processing. The following page gives a presentation of the query interface :

• [CSPS query interface](CSPS query interface_beta 0.4)

Development

The libcsps current release is 0.4 (v0.4). The master branch contains the current beta 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 package (Ubuntu 14.04 LTS) dependencies :

• build-essential

and the following provided sub-modules :

• libinter v0.3 <libinter repository>

Documentation is built using doxygen.

Compilation

To clone the repository, use the command :

$ git clone https://github.com/FoxelSA/libcsps.git --recursive
$ cd libcsps
$ git checkout v0.4

To build sub-modules and binaries with make, use the command :

$ make clean-all && make [OPENMP=false]

To rebuild the binaries without rebuilding sub-modules :

$ make clean && make build [OPENMP=false]

To rebuild sub-modules only, use the command :

$ make clean-modules && make modules [OPENMP=false]

To generate the documentation, use the command :

$ make clean-documentation && make documentation

To install or uninstall the binaries on the local computer, use the commands :

# make install
# make uninstall

More compilation options and an overview of library basic usage in client codes is provided by the library usage page.