@osobh/reactar/lib/sensors/SLAM.js

AR Library for React Native and Expo

"use strict";
// src/sensors/SLAM.ts
Object.defineProperty(exports, "__esModule", { value: true });
exports.SLAM = void 0;
const DeviceTracking_1 = require("./DeviceTracking");
const EnvironmentalDetection_1 = require("./EnvironmentalDetection");
class SLAM {
    constructor() {
        this.features = new Map();
        this.mapPoints = new Map();
        this.lastPose = null;
        this.deviceTracking = new DeviceTracking_1.DeviceTracking();
        this.environmentalDetection = new EnvironmentalDetection_1.EnvironmentalDetection();
    }
    async initialize() {
        // Start sensor tracking
        this.deviceTracking.startAccelerometer(50); // Faster updates for SLAM
        this.deviceTracking.startGyroscope(50);
        this.deviceTracking.startDeviceMotion(50);
        this.deviceTracking.startMagnetometer(50);
    }
    async processFrame(imageData) {
        // Extract features from the current frame
        const features = await this.detectFeatures(imageData);
        // Update device pose
        const currentPose = this.updatePose();
        // Track features and update map
        await this.trackFeaturesAndUpdateMap(features, currentPose);
    }
    async detectFeatures(imageData) {
        // Implement feature detection (e.g., FAST corner detection)
        // This is a placeholder implementation
        return [];
    }
    updatePose() {
        const accel = this.deviceTracking.accelerometerData;
        const gyro = this.deviceTracking.gyroscopeData;
        const motion = this.deviceTracking.deviceMotionData;
        // Implement sensor fusion for accurate pose estimation
        // This is a placeholder implementation
        return {
            position: accel || { x: 0, y: 0, z: 0 },
            orientation: gyro || { x: 0, y: 0, z: 0 }
        };
    }
    async trackFeaturesAndUpdateMap(features, currentPose) {
        // Match features with existing map points
        for (const feature of features) {
            const matchedPoint = this.findMatchingMapPoint(feature);
            if (matchedPoint) {
                // Update existing map point
                this.updateMapPoint(matchedPoint, feature, currentPose);
            }
            else {
                // Create new map point
                this.createMapPoint(feature, currentPose);
            }
        }
        // Update feature tracking status
        this.updateFeatureTrackingStatus();
    }
    findMatchingMapPoint(feature) {
        // Implement feature matching logic
        // This is a placeholder implementation
        return null;
    }
    updateMapPoint(mapPoint, feature, pose) {
        mapPoint.observations.push(feature);
        // Update position based on new observation
        this.updateMapPointPosition(mapPoint);
    }
    createMapPoint(feature, pose) {
        const mapPoint = {
            id: `map-point-${Date.now()}`,
            position: feature.position,
            observations: [feature],
            confidence: 1
        };
        this.mapPoints.set(mapPoint.id, mapPoint);
    }
    updateMapPointPosition(mapPoint) {
        // Implement triangulation or optimization to update map point position
        // This is a placeholder implementation
    }
    updateFeatureTrackingStatus() {
        const currentTime = Date.now();
        // Remove features that haven't been seen recently
        for (const [id, feature] of this.features) {
            if (currentTime - feature.lastSeen > 5000) { // 5 seconds timeout
                this.features.delete(id);
            }
        }
    }
    getMapPoints() {
        return Array.from(this.mapPoints.values());
    }
    getCurrentPose() {
        return this.lastPose;
    }
    cleanup() {
        this.deviceTracking.stopAllSensors();
        this.features.clear();
        this.mapPoints.clear();
    }
}
exports.SLAM = SLAM;
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