The SLAMcore C++ API provides some examples to illustrate different use cases
and best practices, in addition to a minimal
CMakeLists.txt to show how to
include the library in a project.
Once the SLAMcore package is installed, this example source code should be
/usr/src/slamcore/examples by default.
A user can build them as follows:
mkdir /tmp/slamcore_examples cd /tmp/slamcore_examples cmake /usr/src/slamcore/examples make
Find below a list of the included examples.
Shows how to create and interact with the SLAM system. How to enable and use data streams, read properties and receive and display data in a loop.
Demonstrates how to generate a height and occupancy map when the depth stream is provided.
Demonstrates how to access images obtained from the SLAM system API.
Demonstrates how to set up and run a SLAM system in multisession mode, which means how to perform SLAM with an already saved session file from another execution of the software.
One restriction is that only one SLAM system can exist at any given time. If the user wishes to reset it to start processing a data source cleanly, the common practice is to delete the current system and create a new one.
Demonstrates how to save a session using an async task and how to load it back.
Demonstrates how to run a SLAM system with wheel odometry fusion (visual-inertial-kinematics SLAM). Note that wheel odometry calibration is required, see Wheel Odometry Integration for more information.
Demonstrates how to write and export trajectories into a CSV file. See Guide to Trajectories for more information.
The source code can be visited as part of this documentation.