Namespaces
namespace	datalayout_conventions
	Name and type conventions used to map ContentBlockReader needs to DataLayout data.

namespace	DescriptionRecord
	Helper functions to read & write description records.

namespace	FileDetailsCache
	Helper methods to read & write file details in a cache file.

namespace	FileFormat
	Namespace for key datastructures of a VRS file.

namespace	IndexRecord
	Namespace for index record related classes.

namespace	internal
	DataLayout private namespace for internal helper classes & functions.

namespace	RecordFileWriter_
	Namespace for RecordFileWriter's private implementation classes.

namespace	tag_conventions
	Namespace for tag names following standardized conventions.

Classes
class	AlignedBuffer

class	AsyncBuffer

class	AsyncDiskFileChunk

struct	AsyncFileDescriptor

class	AtomicDiskFile

class	AudioBlockReader
	Specialized version of ContentBlockReader to handle content blocks containing audio data. More...

class	AudioContentBlockSpec
	Specification of an audio content block. More...

class	AutoDataLayout
	Specialized DataLayout class to declare a DataLayout in struct format. More...

class	AutoDataLayoutEnd
	For use within an AutoDataLayout class, to end the AutoDataLayout's construction. More...

class	Bool
	Substitute for bool POD type, which can be used safely in DataPiece templates. More...

class	CompressedRecordReader
	RecordReader specialized to read compressed records. For VRS internal usage only. More...

class	Compressor
	Helper class to compress data using lz4 or zstd presets. More...

class	ContentBlock
	Specification of a VRS record content block. More...

class	ContentBlockId
	Helper to identify a particular content block within a file. More...

class	ContentBlockReader
	Abstract class to handle the interpretation of a record format's content block. More...

class	ContentParser
	RecordFormat string parsing helper class. More...

struct	CurrentRecord
	Class describing which record is being read. Most fields are really self explanatory. More...

class	CustomBlockReader
	Specialized version of ContentBlockReader to handle a content block containing custom data. Custom data is data which format/content is not known to VRS. More...

class	CustomContentBlock

class	DataLayout
	The DataLayout class describes the data stored inside a DataLayoutContentBlock. More...

class	DataLayoutBlockReader
	Specialized version of ContentBlockReader to handle DataLayout blocks. More...

struct	DataLayoutChunk
	Class referencing a DataLayout object, and abstracting the interactions for DataSource. More...

struct	DataLayoutStruct
	Helper class to include DataLayout structs containing a set of DataPieceXXX and DataLayoutStruct while preserving the required uniqueness of the field names. Embedded DataPiece objects will have a name automatically prefixed with the name of the DataLayoutStruct, with a '/' in between. More...

struct	DataLayoutStructArray
	Helper class to include DataLayout structs containing a sliced array of DataPieceXXX and DataLayoutStruct while preserving the required uniqueness of the field names. Embedded DataPiece objects will have a name automatically prefixed with the name of the DataLayoutStruct, with a '/0'... /Size-1' in between. More...

class	DataPiece
	Abstract class representing a piece of information part of a DataLayout. More...

class	DataPieceArray
	Fixed size array of POD values. More...

class	DataPieceEnum
	DataPieceValue specialization class to store enums more conveniently and safely. More...

class	DataPieceString
	DataPiece for variable length string. More...

class	DataPieceStringMap
	DataPiece map container, with string keys and values of type T. More...

class	DataPieceValue
	DataPiece for a single value of type T. The value is stored in DataLayout's fixed size buffer. More...

class	DataPieceVector
	Vector of type T and variable size. More...

class	DataReference
	Container of data pointers, to tell where to write data when reading a record. More...

class	DataSource
	A class referencing data to be captured in a record at creation. More...

class	DataSourceChunk
	Elementary part of a DataSource for a simple block of memory. More...

class	Decompressor
	Decompressor helper class, to decompresses data at a target location. More...

class	DirectWriteRecordData
	Class to hold data that is written directly in the file at the end of a record. Record data held by DataSource is copied in an internal buffer when the record is created, so it might be compressed, and the source buffers, including datalayouts, reused/modified, without risk of corrupting the record's data, at the expense of a memory copy. By using DirectWriteRecordData, you can avoid that copy, with the following limitations: More...

class	DiskFileChunk

class	DiskFileT
	FileHandler implementation for disk files, with chunked file support. More...

class	EmptyBlockReader
	Specialized version of ContentBlockReader to handle an empty content block. More...

class	EmptyDataLayout
	When you just need a placeholder for a DataLayout. More...

class	FileCache
	Utility class to manage various forms of file caching. Disabled by default. More...

class	FileDelegator
	Class to abstract the delegate file open operation for VRS file. More...

class	FileHandler
	Class to abstract VRS file system operations, to enable support for alternate storage methods, in particular network/cloud storage implementations. More...

class	FileHandlerFactory
	A factory system for FileHandlers, allowing the runtime registration & usage of custom FileHandler implementations. More...

struct	FileSpec
	Generalized file descriptor class, allowing the efficient representation of complex file objects, maybe multi-chunks, with additional optional properties. More...

class	ImageBlockReader
	Specialized version of ContentBlockReader to handle content blocks containing an image. More...

class	ImageContentBlockSpec
	Specification of an image content block. More...

struct	JsonFormatProfileSpec
	When printing out a DataLayout as json, this class allows to specify what should be included in the generated json message. More...

class	LegacyFormatsProvider
	System to inject record format & data layout definitions for files created without. More...

struct	LogEvent
	General purpose telemetry event. More...

class	ManualDataLayout
	Specialized DataLayout for programmatic DataLayout generation. More...

struct	MatrixND
	Class to represent matrices of 3 and 4 dimensions, each for either int32_t, float or double. More...

class	MultiRecordFileReader
	Facilitates reading multiple VRS files simultaneously. Records are sorted by timestamps across all the files, therefore it is essential that * all the files must have their timestamps in the same time domain. * Operates in a manner similar to `RecordFileReader`, but with multiple files. More...

class	NewChunkHandler
	Listener to be notified when a new file chunk is finalized. More...

class	NewChunkNotifier
	Helper to make new chunks notifications simpler and safer. More...

class	NonContiguousChunk
	Class to represent a data chunk composed of multiple smaller chunks that each have fixed offsets from each other in memory. More...

struct	OperationContext
	Context description for telemetry events. More...

class	OptionalDataPieces
	Helper function to allocate optional fields only when it is enabled. More...

struct	PointND
	POD type for of 2, 3 and 4 dimensions points, each for either int32_t, float or double. More...

class	ProgressLogger
	ProgressLogger class to be notified of some process' progress. More...

class	Record
	Essential VRS class holding a record's details and payload in memory during creation. More...

class	Recordable
	Class to override to implement a record producing device, or virtual device. More...

class	RecordFileReader
	The class to read VRS files. More...

class	RecordFileWriter
	The class to create VRS files. More...

class	RecordFormat
	Description of the format of a VRS record as a succession of typed blocks of content. More...

struct	RecordFormatReader
	Internal data structure to hold various objects needed to decode a specific RecordFormat. More...

class	RecordFormatRegistrar
	Utility class to handle record format registry manipulations. More...

class	RecordFormatStreamPlayer
	Specialized StreamPlayer designed to handle records which format is managed by RecordFormat, which are a succession of typed content blocks described by ContentBlock objects. More...

class	RecordList
	Helper class pointing to the next record in a device's list of records. This class doesn't not modify the list, simply iterating on it. More...

class	RecordManager
	VRS internal class to manage the records of a specific Recordable after their creation. More...

class	RecordReader
	Abstract VRS internal helper class to read & (if necessary) uncompress records. More...

class	SilentLogger
	Progress logger to ignore all progress notifications. More...

class	StreamId
	VRS stream identifier class. More...

class	StreamPlayer
	Class designed to receive record data when reading a VRS file. More...

struct	StreamTags
	Container for a stream's tags, both user and VRS controlled. More...

struct	TagsRecord
	DataLayout definition used in tag records, which is a VRS internal record type. More...

class	TagsRecordPlayer
	StreamPlayer to decode the content of VRS tag records. More...

class	TelemetryLogger
	TelemetryLogger to report important events. More...

class	TemporaryCachingStrategy
	Helper class to temporarily modify a FileHandler's caching strategy. More...

class	TemporaryRecordableInstanceIdsResetter

struct	TrafficEvent
	Telemetry event specialized to report cloud traffic. More...

struct	UnalignedValue
	Template to represent some POD object without memory alignment. More...

class	UncompressedRecordReader
	RecordReader specialized to read uncompressed records. For VRS internal usage only. More...

class	UnsupportedBlockReader
	Specialized version of ContentBlockReader to handle data that could not be handled by another better suited ContentBlockReader. It's the fallback handler. More...

class	WriteFileHandler
	The WriteFileHandler interface adds write operations to the FileHandler interface. More...

Typedefs
using	AsyncHandle = AsyncFileDescriptor

using	Point2Dd = PointND< double, 2 >
	2D double point class.

using	Point2Df = PointND< float, 2 >
	2D float point class.

using	Point2Di = PointND< int32_t, 2 >
	2D int32_t point class.

using	Point3Dd = PointND< double, 3 >
	3D double point class.

using	Point3Df = PointND< float, 3 >
	3D float point class.

using	Point3Di = PointND< int32_t, 3 >
	3D int32_t point class.

using	Point4Dd = PointND< double, 4 >
	4D double point class.

using	Point4Df = PointND< float, 4 >
	4D float point class.

using	Point4Di = PointND< int32_t, 4 >
	4D int32_t point class.

using	Matrix2Dd = MatrixND< double, 2 >
	2D double matrix class.

using	Matrix2Df = MatrixND< float, 2 >
	2D float matrix class.

using	Matrix2Di = MatrixND< int32_t, 2 >
	2D int32_t matrix class.

using	Matrix3Dd = MatrixND< double, 3 >
	3D double matrix class.

using	Matrix3Df = MatrixND< float, 3 >
	3D float matrix class.

using	Matrix3Di = MatrixND< int32_t, 3 >
	3D int32_t matrix class.

using	Matrix4Dd = MatrixND< double, 4 >
	4D double matrix class.

using	Matrix4Df = MatrixND< float, 4 >
	4D float matrix class.

using	Matrix4Di = MatrixND< int32_t, 4 >
	4D int32_t matrix class.

using	DiskFile = DiskFileT< DiskFileChunk >

using	InitCreatedThreadCallback = std::function< void(std::thread &, ThreadRole, int)>

using	RecordFormatMap = map< pair< Record::Type, uint32_t >, RecordFormat >
	Map a pair of record type/format version to a record format, for a particular stream.

Enumerations
enum class	CompressionPreset { Undefined = -1 , None = 0 , Lz4Fast , Lz4Tight , ZstdFaster , ZstdFast , ZstdLight , ZstdMedium , ZstdHeavy , ZstdHigh , ZstdTight , ZstdMax , COUNT , FirstLz4Preset = Lz4Fast , LastLz4Preset = Lz4Tight , FirstZstdPreset = ZstdFaster , LastZstdPreset = ZstdMax , CompressedFirst = Lz4Fast , CompressedLast = ZstdMax , Default = ZstdFaster }
	VRS Compression setting. More...

enum class	DataPieceType : uint8_t { Undefined = 0 , Value = 1 , Array = 2 , Vector = 3 , String = 4 , StringMap = 5 , COUNT }
	Specifier for a type of DataPiece. More...

enum class	JsonFormatProfile { VrsFormat , ExternalCompact , ExternalPretty , Public }
	Enum for a DataLayout printout json formatting profile. More...

enum	ErrorCode : int { SUCCESS = 0 , FAILURE = kPlatformUserErrorsStart , NOT_SUPPORTED , NOT_IMPLEMENTED , VRSERROR_INTERNAL_ERROR , NOT_A_VRS_FILE , NO_FILE_OPEN , FILE_ALREADY_OPEN , FILE_NOT_FOUND , INVALID_PARAMETER , INVALID_REQUEST , INVALID_RANGE , INVALID_DISK_DATA , INVALID_FILE_SPEC , INVALID_URI_FORMAT , INVALID_URI_VALUE , READ_ERROR , NOT_ENOUGH_DATA , TOO_MUCH_DATA , UNSUPPORTED_VRS_FILE , UNSUPPORTED_DESCRIPTION_FORMAT_VERSION , UNSUPPORTED_INDEX_FORMAT_VERSION , INDEX_RECORD_ERROR , REINDEXING_ERROR , OPERATION_CANCELLED , REQUESTED_FILE_HANDLER_UNAVAILABLE , REQUESTED_DELEGATOR_UNAVAILABLE , FILE_HANDLER_MISMATCH , FILEPATH_PARSE_ERROR , MULTICHUNKS_NOT_SUPPORTED , DISKFILE_NOT_OPEN , DISKFILE_FILE_NOT_FOUND , DISKFILE_INVALID_OFFSET , DISKFILE_NOT_ENOUGH_DATA , DISKFILE_READ_ONLY , DISKFILE_INVALID_STATE , DISKFILE_PARTIAL_WRITE_ERROR }
	Enum for regular VRS errors.

enum class	ErrorDomain : int { Lz4DecompressionErrorDomain , ZstdCompressionErrorDomain , ZstdDecompressionErrorDomain , FbVrsErrorDomain , CustomDomains }
	Core VRS error domains. More...

enum class	CachingStrategy { Undefined = 0 , Passive , Streaming , StreamingBidirectional , StreamingBackward , ReleaseAfterRead , COUNT }
	Caching strategy requests. More...

enum class	CompressionType : uint8_t { None = 0 , Lz4 , Zstd , COUNT }
	Type of compression. Used in VRS record headers, so never modify the values. More...

enum class	ThreadRole { Writer , Purge , Compression }
	Thread types that are created with the RecordFileWriter interface.

enum class	ContentType : uint8_t { CUSTOM = 0 , EMPTY , DATA_LAYOUT , IMAGE , AUDIO , COUNT }
	Type of a record's block. More...

enum class	ImageFormat : uint8_t { UNDEFINED = 0 , RAW , JPG , PNG , VIDEO , JXL , COUNT }
	Image format type. More...

enum class	PixelFormat : uint8_t { UNDEFINED = 0 , GREY8 = 1 , BGR8 , DEPTH32F , RGB8 , YUV_I420_SPLIT , YUV_I420_PLANAR = YUV_I420_SPLIT , RGBA8 , RGB10 , RGB12 , GREY10 , GREY12 , GREY16 , RGB32F , SCALAR64F , YUY2 , RGB_IR_RAW_4X4 , RGBA32F , BAYER8_RGGB , RAW10 , RAW10_BAYER_RGGB , RAW10_BAYER_BGGR , YUV_420_NV21 , YUV_420_NV12 , COUNT }
	Pixel format type, then the image format is ImageFormat::RAW. More...

enum class	AudioFormat : uint8_t { UNDEFINED = 0 , PCM = 1 , OPUS = 2 , COUNT }
	Audio format type. More...

enum class	AudioSampleFormat : uint8_t { UNDEFINED = 0 , S8 , U8 , A_LAW , MU_LAW , S16_LE , U16_LE , S16_BE , U16_BE , S24_LE , U24_LE , S24_BE , U24_BE , S32_LE , U32_LE , S32_BE , U32_BE , F32_LE , F32_BE , F64_LE , F64_BE , COUNT }
	Audio sample format, when the audio type is AudioFormat::PCM. More...

enum class	RecordableTypeId : uint16_t { VRSIndex = 1 , VRSDescription = 2 , ImageStream = 100 , AudioStream = 101 , AnnotationStream = 102 , ArchiveStream = 103 , ForwardCameraRecordableClass = 200 , UpwardCameraRecordableClass = 201 , DownwardCameraRecordableClass = 202 , BackwardCameraRecordableClass = 203 , SidewardCameraRecordableClass = 204 , OutwardCameraRecordableClass = 205 , InwardCameraRecordableClass = 206 , InsideOutCameraRecordableClass = 207 , OutsideInCameraRecordableClass = 208 , DepthCameraRecordableClass = 209 , IRCameraRecordableClass = 210 , EyeCameraRecordableClass = 211 , FaceCameraRecordableClass = 212 , MouthCameraRecordableClass = 213 , RgbCameraRecordableClass = 214 , DisplayObserverCameraRecordableClass = 215 , WorldObserverCameraRecordableClass = 216 , DisparityCameraRecordableClass = 217 , MonoAudioRecordableClass = 230 , StereoAudioRecordableClass = 231 , AmbientAudioRecordableClass = 232 , SensorRecordableClass = 240 , ImuRecordableClass = 241 , AccelerometerRecordableClass = 242 , MagnetometerRecordableClass = 243 , GyroscopeRecordableClass = 244 , LidarRecordableClass = 245 , TemperatureRecordableClass = 246 , BarometerRecordableClass = 247 , PhotoplethysmogramRecordableClass = 248 , EMGRecordableClass = 249 , CapacitiveTouchRecordableClass = 250 , HeartRateRecordableClass = 251 , CaloriesRecordableClass = 252 , CsaRecordableClass = 253 , RadarRecordableClass = 254 , StepCountRecordableClass = 255 , ForceRecordableClass = 256 , DistanceRecordableClass = 257 , ActiveMinutesRecordableClass = 258 , HeadingRecordableClass = 259 , CalibrationRecordableClass = 260 , AlignmentRecordableClass = 261 , SetupRecordableClass = 262 , DiagnosticRecordableClass = 263 , PerformanceRecordableClass = 264 , IlluminationRecordableClass = 265 , DisplayRecordableClass = 266 , SyncRecordableClass = 280 , GpsRecordableClass = 281 , WifiBeaconRecordableClass = 282 , BluetoothBeaconRecordableClass = 283 , UsbRecordableClass = 284 , TimeRecordableClass = 285 , AttentionRecordableClass = 286 , GMSRecordableClass = 287 , InputRecordableClass = 300 , TextInputRecordableClass = 301 , MouseRecordableClass = 302 , TouchInputRecordableClass = 303 , GestureInputRecordableClass = 304 , ControllerRecordableClass = 305 , EventRecordableClass = 320 , CommandRecordableClass = 321 , InstructionRecordableClass = 322 , ScriptRecordableClass = 323 , ControlRecordableClass = 324 , PipelineEventRecordableClass = 325 , GroundTruthRecordableClass = 340 , GroundTruthImuRecordableClass = 341 , GroundTruthAlignmentRecordableClass = 342 , GroundTruthPositionRecordableClass = 343 , GroundTruthOrientationRecordableClass = 344 , GroundTruthDepthRecordableClass = 345 , ResultRecordableClass = 370 , PoseRecordableClass = 371 , MotionRecordableClass = 372 , GazeRecordableClass = 373 , MeshRecordableClass = 374 , MocapRecordableClass = 375 , PointCloudRecordableClass = 376 , MapRecordableClass = 377 , SensorVarianceBiasRecordableClass = 378 , AnchorRecordableClass = 379 , SegmentationRecordableClass = 380 , TextRecordableClass = 381 , EMGGestureRecordableClass = 382 , SpeechRecordableClass = 383 , QuaternionRecordableClass = 384 , UltrasonicRecordableClass = 385 , AnnotationRecordableClass = 400 , AmbientLightRecordableClass = 500 , SampleDeviceRecordableClass = 998 , UnitTestRecordableClass = 999 , FirstRecordableClassId = 200 , LastRecordableClassId = 999 , SlamCameraData = 1201 , SlamImuData = 1202 , SlamMagnetometerData = 1203 , TestDevices = 65500 , UnitTest1 = TestDevices , UnitTest2 , SampleDevice , Undefined = 65535 }
	VRS stream type or class identifier enum. More...

Functions
string	toString (CompressionPreset preset)

template<>
CompressionPreset	toEnum< CompressionPreset > (const string &name)

std::string	toString (CompressionType compressionType)

template<>
CompressionType	toEnum< CompressionType > (const std::string &compressionTypeName)

string	toPrettyName (CompressionPreset preset)

template<>
CompressionPreset	toEnum< CompressionPreset > (const std::string &presetName)

template<>
CompressionType	toEnum< CompressionType > (const std::string &compressionTypeName)

template<class T >
const string &	getTypeName ()
	Get the name of the type <T>.

template<>
const string &	getTypeName< string > ()

template<class T >
T	readUnaligned (const void *ptr)
	Helper to make dereferencing a pointer to read an unaligned POD object safe.

template<class T >
void	writeUnaligned (void *ptr, const T &value)
	Helper to make dereferencing a pointer to write an unaligned POD object safe.

string	errorCodeToMessage (int errorCode)

string	errorCodeToMessageWithCode (int errorCode)

ErrorDomain	newErrorDomain (const string &domainName)

int	domainErrorCode (ErrorDomain errorDomain, int64_t errorCode, const char *errorMessage)

constexpr int	errorDomainToErrorCodeStart (ErrorDomain errorDomain)
	Conversion of a error domain to an int. For internal & test purposes only.

ErrorDomain	newErrorDomain (const std::string &domainName)

template<class T >
int	domainErrorCode (ErrorDomain errorDomain, T errorCode, const char *errorMessage)

template<class EC >
const std::map< EC, const char * > &	getErrorCodeRegistry ()

template<class EC >
ErrorDomain	getErrorDomain ()

template<class EC >
int	domainError (EC errorCode)

string	toString (CachingStrategy cachingStrategy)

template<>
CachingStrategy	toEnum (const string &name)
	Convert a record type name into an enum value.

template<>
CachingStrategy	toEnum (const string &name)

char	xdigitToChar (char xdigit)

string	toString (Record::Type recordType)
	Get a record type as a text string.

template<>
Record::Type	toEnum (const string &name)
	Convert a record type name into an enum value.

template<>
Record::Type	toEnum (const string &name)
	Convert a record type name into an enum value.

const IndexRecord::RecordInfo *	getNearestRecordByTime (const vector< const IndexRecord::RecordInfo * > &index, double timestamp, double epsilon, Record::Type recordType)

const IndexRecord::RecordInfo *	getNearestRecordByTime (const std::vector< const IndexRecord::RecordInfo * > &index, double timestamp, double epsilon, Record::Type recordType=Record::Type::UNDEFINED)

string	toString (ContentType contentType)

template<>
ContentType	toEnum (const string &name)
	Convert a record type name into an enum value.

string	toString (ImageFormat imageFormat)

template<>
ImageFormat	toEnum (const string &name)
	Convert a record type name into an enum value.

string	toString (PixelFormat pixelFormat)

template<>
PixelFormat	toEnum (const string &name)
	Convert a record type name into an enum value.

string	toString (AudioFormat audioFormat)
	Convert an AudioFormat to a string.

template<>
AudioFormat	toEnum (const string &name)
	Convert a record type name into an enum value.

string	toString (AudioSampleFormat audioSampleFormat)
	Convert an AudioSampleFormat to a string.

template<>
AudioSampleFormat	toEnum (const string &name)
	Convert a record type name into an enum value.

string	toString (RecordableTypeId typeId)

bool	isARecordableClass (RecordableTypeId typeId)
	Tell if an id is that of a "Recordable Class".

Variables
constexpr int	kMaxFilesOpenCount = 2

const int	kSimpleVRSErrorsSize = 1000

const int	kVRSErrorsDomainSize = 100

const int	kDomainErrorsStart = kPlatformUserErrorsStart + kSimpleVRSErrorsSize

constexpr const char *	kFailFastOnIncompleteIndex = "fail_fast_on_incomplete_index"

Detailed Description

Writing headers to disk, you must control endianness and have no padding so that you can read a file written by any system, using any other system.

The Endian<T> template allows the definition of types stored locally in a endian defined way.

Typedef Documentation

◆ InitCreatedThreadCallback

using vrs::InitCreatedThreadCallback = typedef std::function<void(std::thread&, ThreadRole, int)>

Callback type used to initialize the created threads Arguments are currentThread, ThreadRole, threadIndex (Only used for Compression)

Enumeration Type Documentation

◆ AudioFormat

enum class vrs::AudioFormat : uint8_t

strong

Audio format type.

Enumerator
UNDEFINED	Unknown/unspecified.
PCM	Raw PCM audio data.
OPUS	Audio data compressed using Opus. https://opus-codec.org/.
COUNT	Count of values in this enum type.

◆ AudioSampleFormat

enum class vrs::AudioSampleFormat : uint8_t

strong

Audio sample format, when the audio type is AudioFormat::PCM.

Enumerator
UNDEFINED	Unknown/unspecified.
S8	LPCM, signed, 8 bit.
U8	LPCM, unsigned, 8 bit.
A_LAW	a-law PCM, 8 bit.
MU_LAW	mu-law PCM, 8 bit.
S16_LE	LPCM, signed, 16 bit little endian.
U16_LE	LPCM, unsigned, 16 bit little endian.
S16_BE	LPCM, signed, 16 bit big endian.
U16_BE	LPCM, unsigned, 16 bit big endian.
S24_LE	LPCM, signed, 24 bit little endian.
U24_LE	LPCM, unsigned, 24 bit little endian.
S24_BE	LPCM, signed, 24 bit big endian.
U24_BE	LPCM, unsigned, 24 bit big endian.
S32_LE	LPCM, signed, 32 bit little endian.
U32_LE	LPCM, unsigned, 32 bit little endian.
S32_BE	LPCM, signed, 32 bit big endian.
U32_BE	LPCM, unsigned, 32 bit big endian.
F32_LE	LPCM, 32 bit float little endian.
F32_BE	LPCM, 32 bit float big endian.
F64_LE	LPCM, 64 bit float little endian.
F64_BE	LPCM, 64 bit float big endian.
COUNT	Count of values in this enum type.

◆ CachingStrategy

enum class vrs::CachingStrategy

strong

Caching strategy requests.

Enumerator
Passive	(default) Read & cache on-demand (don't prefetch).
Streaming	Automatically download data "forward", using last read-request as a hint.
StreamingBidirectional	Automatically download data "forward" and "backward", using last read-request as a hint.
StreamingBackward	Automatically download data "backward", using last read-request as a hint.
ReleaseAfterRead	Same as "Passive" but release used cache blocks immediately after read.

◆ CompressionPreset

enum class vrs::CompressionPreset

strong

VRS Compression setting.

VRS records are compressed by default, using the LZ4_FAST setting, which is an extremely fast lossless compression.

VRS compression is completely transparent: records are compressed and uncompressed without the need to do anything when writing or reading data. Record sizes are always showing the uncompressed size.

VRS files can easily be recompressed offline using VRStool.

Enumerator
Undefined	when not set explicitly
None	No compression.
Lz4Fast	Fast compression speed, very fast decompression, not great compression ratio.
Lz4Tight	Slower compression speed, very fast decompression, better compression ratio.
Default	Default preset.

◆ CompressionType

enum class vrs::CompressionType : uint8_t

strong

Type of compression. Used in VRS record headers, so never modify the values.

Enumerator
None	No compression.
Lz4	lz4 compression.
Zstd	zstd compression.

◆ ContentType

enum class vrs::ContentType : uint8_t

strong

Type of a record's block.

Enumerator
CUSTOM	Custom format, or unknown/unspecified data format.
EMPTY	No data (internal).
DATA_LAYOUT	DataLayout block.
IMAGE	Image block.
AUDIO	Audio block.
COUNT	Count of values in this enum type.

◆ DataPieceType

enum class vrs::DataPieceType : uint8_t

strong

Specifier for a type of DataPiece.

Enumerator
Undefined	Undefined type.
Value	Single value.
Array	Fixed size array.
Vector	Variable size array of T.
String	Variable size array of char, null terminated.
StringMap	Map with string keys, and T values.
COUNT	Count of enum values.

◆ ErrorDomain

enum class vrs::ErrorDomain : int

strong

Core VRS error domains.

Errors can come from VRS, or a helper library like LZ4, ZSTD, or a file handler's sub-system. There is no telling if these error codes will collide with the OS', VRS' or each other. Error domains create a safe mechanism to report any of these errors as an int, which can then be converted back to a human readable string using vrs::errorCodeToMessage(code). The caveat is that the numeric values themselves may vary from run-to-run. Error domains can be created dynamically, with the limitation that 99 distinct custom errors per domain can be tracked during a single run. In practice, 99 distinct errors per domain should be plenty, and it's safe to generate more errors, but the error messages beyond 99 will not be tracked individually.

◆ ImageFormat

enum class vrs::ImageFormat : uint8_t

strong

Image format type.

Enumerator
UNDEFINED	Unknown/unspecified.
RAW	Raw pixel data.
JPG	JPEG data.
PNG	PNG data.
VIDEO	Video codec encoded frame.
JXL	JPEG-XL data.
COUNT	Count of values in this enum type.

◆ JsonFormatProfile

enum class vrs::JsonFormatProfile

strong

Enum for a DataLayout printout json formatting profile.

Enumerator
VrsFormat	for internal VRS usage. (default)
ExternalCompact	for external tools (VRStools in particular), but compact.
ExternalPretty	for external tools (VRStools in particular), formatted for readability.
Public	for public use cases, avoiding VRS internal names

◆ PixelFormat

enum class vrs::PixelFormat : uint8_t

strong

Pixel format type, then the image format is ImageFormat::RAW.

Enumerator
UNDEFINED	Unknown/unrecognized.
GREY8	1 uint8_t.
BGR8	3 uint8_t values, blue + green + red.
DEPTH32F	1 32 bit float value, representing a depth.
RGB8	3 uint8_t values, red + green + blue.
YUV_I420_SPLIT	3 uint8_t values, 4:2:0. The 3 planes are stored separately.
YUV_I420_PLANAR	same as YUV_I420_SPLIT, but more conventional name.
RGBA8	4 uint8_t values, red + blue + green + alpha.
RGB10	uses 16 bit little-endian values. 6 most significant bits are unused and set to 0.
RGB12	uses 16 bit little-endian values. 4 most significant bits are unused and set to 0.
GREY10	uses 16 bit little-endian values. 6 most significant bits are unused and set to 0.
GREY12	uses 16 bit little-endian values. 4 most significant bits are unused and set to 0.
GREY16	uses 16 bit little-endian values.
RGB32F	1 32 bit float value.
SCALAR64F	1 64 bit float value, representing high precision image data.
YUY2	4 uint8_t values, 4:2:2, single plane.
RGB_IR_RAW_4X4	As seen on the OV2312, a 4x4 pattern of BGRG GIrGIr RGBG GIrGIr where Ir means infrared.
RGBA32F	1 32 bit float value.
BAYER8_RGGB	8 bit per pixel, RGGB bayer pattern.
RAW10	https://developer.android.com/reference/android/graphics/ImageFormat#RAW10
RAW10_BAYER_RGGB	10 bit per pixel, RGGB bayer pattern.
RAW10_BAYER_BGGR	10 bit per pixel, BGGR bayer pattern.
YUV_420_NV21	Y plane + half width/half height chroma plane with weaved V and U values.
YUV_420_NV12	Y plane + half width/half height chroma plane with weaved U and V values.
COUNT	Count of values in this enum type.

◆ RecordableTypeId

enum class vrs::RecordableTypeId : uint16_t

strong

VRS stream type or class identifier enum.

Each stream in a VRS file has a type, represented by RecordableTypeId. RecordableTypeId values represent a class of recordable, a particular logical or virtual recordable, or a hardware specific recordable, using their specific record formats.

Initially, every recordable needed their own enum values. This was non-scalable way to identify unique recordable types, and required every use case to have their own recordable type id in a shared enum definition. This method is now deprecated.

Today, instead of creating new RecordableTypeId values for new devices, use an existing "Recordable Class" ID (values between 200 and 999) along with a flavor to describe the data being recorded in the stream.

Should none of the existing "recordable class" match your use case, please propose new ones.

Meta only: If you can not use a "recordable class" value with a "flavor" without having to refactor a lot of code, you can still create new enum values, even if that's bad practice.

For each enum value, a proper description must be provided in StreamId.cpp

Enumerator
VRSIndex	Internal, for index records. See IndexRecord.
VRSDescription	Internal, for description records. See DescriptionRecord.
ImageStream	Generic image stream. Prefer using "Recordable Class" IDs.
AudioStream	Generic audio stream. Prefer using "Recordable Class" IDs.
AnnotationStream	Generic annotation stream. Prefer using "Recordable Class" IDs.
ArchiveStream	Generic archive stream. Prefer using "Recordable Class" IDs.
ForwardCameraRecordableClass	For cameras looking forward.
UpwardCameraRecordableClass	For cameras looking up.
DownwardCameraRecordableClass	For cameras looking down.
BackwardCameraRecordableClass	For cameras looking back.
SidewardCameraRecordableClass	For cameras looking to the side.
OutwardCameraRecordableClass	For cameras looking outward.
InwardCameraRecordableClass	For cameras looking inward.
InsideOutCameraRecordableClass	For inside out cameras.
OutsideInCameraRecordableClass	For outside in cameras.
DepthCameraRecordableClass	For depth cameras.
IRCameraRecordableClass	For infrared cameras.
EyeCameraRecordableClass	For cameras recording eyes.
FaceCameraRecordableClass	For cameras recording a face.
MouthCameraRecordableClass	For cameras recording a mouth.
RgbCameraRecordableClass	For color cameras.
DisplayObserverCameraRecordableClass	For display observing cameras.
WorldObserverCameraRecordableClass	For world observing cameras.
DisparityCameraRecordableClass	For disparity cameras.
MonoAudioRecordableClass	For mono microphones.
StereoAudioRecordableClass	For stereo microphones.
AmbientAudioRecordableClass	For multichannel microphones.
SensorRecordableClass	For unspecified sensor data. Use flavors to be specific.
ImuRecordableClass	For IMU data streams.
AccelerometerRecordableClass	For accelerometer data streams.
MagnetometerRecordableClass	For magnetometer data streams.
GyroscopeRecordableClass	For gyroscope data streams.
LidarRecordableClass	For Lidar data streams.
TemperatureRecordableClass	For temperature data streams.
BarometerRecordableClass	For barometer data streams.
PhotoplethysmogramRecordableClass	For photoplethysmography data streams.
EMGRecordableClass	For electromyography data streams.
CapacitiveTouchRecordableClass	For capacitive touch data streams.
HeartRateRecordableClass	Heart rate data streams.
CaloriesRecordableClass	Calories data streams.
CsaRecordableClass	CSA data streams.
RadarRecordableClass	Radar data streams.
StepCountRecordableClass	Step count data streams.
ForceRecordableClass	Force data streams.
DistanceRecordableClass	Distance data streams.
ActiveMinutesRecordableClass	Active minutes data streams.
HeadingRecordableClass	Heading data streams.
CalibrationRecordableClass	For calibration data streams.
AlignmentRecordableClass	For alignment data streams.
SetupRecordableClass	For setup data streams.
DiagnosticRecordableClass	For diagnostic data streams.
PerformanceRecordableClass	For performance data streams.
IlluminationRecordableClass	For illumination data streams.
DisplayRecordableClass	For display buffer data streams.
SyncRecordableClass	For synchronisation data streams.
GpsRecordableClass	For GPS data streams.
WifiBeaconRecordableClass	For WIFI beacon data streams.
BluetoothBeaconRecordableClass	For bluetooth beacon data streams.
UsbRecordableClass	For USB data streams.
TimeRecordableClass	For time data streams.
AttentionRecordableClass	For attention data streams.
GMSRecordableClass	For GMS location data stream.
InputRecordableClass	For user input data streams.
TextInputRecordableClass	For text input data streams.
MouseRecordableClass	For mouse data streams.
TouchInputRecordableClass	For touch input data streams.
GestureInputRecordableClass	For gesture input data streams.
ControllerRecordableClass	For controller data streams.
EventRecordableClass	For event data streams.
CommandRecordableClass	For command data streams.
InstructionRecordableClass	For instructions data streams.
ScriptRecordableClass	For script data streams.
ControlRecordableClass	For control data streams.
PipelineEventRecordableClass	For EMG pipeline events streams.
GroundTruthRecordableClass	For ground truth data streams.
GroundTruthImuRecordableClass	For ground truth IMU data streams.
GroundTruthAlignmentRecordableClass	For ground truth alignment data streams.
GroundTruthPositionRecordableClass	For ground truth position data streams.
GroundTruthOrientationRecordableClass	For ground truth orientation data streams.
GroundTruthDepthRecordableClass	For ground truth depth data streams.
ResultRecordableClass	For result streams.
PoseRecordableClass	For pose streams.
MotionRecordableClass	For motion data streams.
GazeRecordableClass	For gaze data streams.
MeshRecordableClass	For mesh data streams.
MocapRecordableClass	For motion capture data streams.
PointCloudRecordableClass	For point cloud data streams.
MapRecordableClass	For map data streams.
SensorVarianceBiasRecordableClass	For sensor variance/bias results.
AnchorRecordableClass	For anchor data streams (i.e. spatial persistence anchors).
SegmentationRecordableClass	For segmentation data streams.
TextRecordableClass	For result data streams stored as text.
EMGGestureRecordableClass	For EMG gesture data streams.
SpeechRecordableClass	For speech/ASR data streams.
QuaternionRecordableClass	For quaternion data streams.
UltrasonicRecordableClass	For ultrasonic data streams.
AnnotationRecordableClass	For annotation streams.
AmbientLightRecordableClass	Ambient light data streams.
SampleDeviceRecordableClass	For sample device streams.
UnitTestRecordableClass	For unit test streams.
FirstRecordableClassId	Helper values to test if a type is a recordable class.
LastRecordableClassId	Helper values to test if a type is a recordable class.
SlamCameraData	Legacy slam data stream.
SlamImuData	Legacy IMU data stream.
SlamMagnetometerData	Legacy magnetometer data stream.
UnitTest1	For unit tests.
UnitTest2	For unit tests.
SampleDevice	For sample code.
Undefined	Value used for default initializations and marking undefined situations.

Function Documentation

◆ domainErrorCode() [1/2]

int vrs::domainErrorCode	(	ErrorDomain	errorDomain,
		int64_t	errorCode,
		const char *	errorMessage
	)

Create an int error code for a specific error domain and error code within that domain.

Parameters

errorDomain	the error domain of the error code.
errorCode	an error code within that domain, which can be any value.
errorMessage	an error description for the errorCode.

Returns: A int that can be safely returned by VRS to represent the domain error. The errorMessage is saved, so that future calls to errorCodeToMessage() will return that error message for that int error code.

◆ domainErrorCode() [2/2]

template<class T >

int vrs::domainErrorCode	(	ErrorDomain	errorDomain,
		T	errorCode,
		const char *	errorMessage
	)

Helper function so that any integer error type (including enums) can be used for domain errors, as this template helper will simply cast that error code to an int64.

◆ errorCodeToMessage()

std::string vrs::errorCodeToMessage ( int errorCode )

Convert an int error code into a human readable string for logging. This API should work with any int error code returned by any VRS API.

Parameters

errorCode an error code returned by any VRS API.

Returns: A string that describes the error.

◆ errorCodeToMessageWithCode()

std::string vrs::errorCodeToMessageWithCode ( int errorCode )

Convert an int error code into a human readable string for logging. This API should work with any int error code returned by any VRS API. This version includes the error code's numeric value.

Parameters

errorCode an error code returned by any VRS API.

Returns: A string that describes the error.

◆ getErrorCodeRegistry()

template<class EC >

const std::map< EC, const char * > & vrs::getErrorCodeRegistry ( )

Helper class to define your own error domain.

create an enum class for your errors, that you pass to your template.
provide a map enum -> to text, to explain each enum. You can then call newErrorCode() to get an int error code that you can return.

◆ getNearestRecordByTime()

const IndexRecord::RecordInfo * vrs::getNearestRecordByTime	(	const std::vector< const IndexRecord::RecordInfo * > &	index,
		double	timestamp,
		double	epsilon,
		Record::Type	recordType = `Record::Type::UNDEFINED`
	)

The method to search the nearest record from the index list. Find the nearest record of a specific stream within the range of (timestamp - epsilon) - (timestamp + epsilon).

Parameters

timestamp	timestamp to seek.
epsilon	the threshold we search for the index.
recordType	record type to find, or Record::Type::UNDEFINED for any record type.

Returns: Pointer to the record info, or nullptr (timestamp is too big?).

◆ newErrorDomain()

ErrorDomain vrs::newErrorDomain ( const std::string & domainName )

Create a new error domain, based on a name that's supposed to be unique, such as "CURL"

Parameters

domainName some unique domain name.

Returns: A new error domain enum value.

◆ toString()

string vrs::toString ( RecordableTypeId typeId )

Get an English readable recordable type name for the enum value.

Parameters

typeId the recordable type id to describe

Returns: English readable recordable type name.

Note that VRS stores the actual string-name when recording a file, so that you can later tell how the recordable type was called when the recording was made. VRStool will then show both the original and current recordable type names.

Variable Documentation

◆ kFailFastOnIncompleteIndex

constexpr const char* vrs::kFailFastOnIncompleteIndex = "fail_fast_on_incomplete_index"

constexpr

This is a special boolean extra field in FileSpec to make RecordFileReader fail fast on open if the file's index is incomplete or missing, and prevent VRS from rebuilding the index. This is useful when accessing large files in cloud, when we'd rather fail than rebuild the index.

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Detailed Description

Typedef Documentation

◆ InitCreatedThreadCallback

Enumeration Type Documentation

◆ AudioFormat

◆ AudioSampleFormat

◆ CachingStrategy

◆ CompressionPreset

◆ CompressionType

◆ ContentType

◆ DataPieceType

◆ ErrorDomain

◆ ImageFormat

◆ JsonFormatProfile

◆ PixelFormat

◆ RecordableTypeId

Function Documentation

◆ domainErrorCode() [1/2]

◆ domainErrorCode() [2/2]

◆ errorCodeToMessage()

◆ errorCodeToMessageWithCode()

◆ getErrorCodeRegistry()

◆ getNearestRecordByTime()

◆ newErrorDomain()

◆ toString()

Variable Documentation

◆ kFailFastOnIncompleteIndex