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File slam.cpp

Introduce the slamcore::SLAMSystemPollingInterface and associated classes/enums. The former is the main object for interacting with the SLAM engine.

Client-library related getter methods

Get information about the client library

std::string getVersion()

Version

std::string getBuildVersion()

Build version

std::string getBuildType()

Build type

Functions

std::unique_ptr<SLAMSystemCallbackInterface> createSLAMSystem(const v0::SystemConfiguration&)

void init(const char*)

void deinit()

const char * __attribute__ ((__used__)) SLAMCORE_SDK_VERSION_GIT

void slamcoreInit(LogSeverity severity = LogSeverity::Count, LogCallbackT callback = nullptr)

Create SLAMSystemPollingInterface instance. Initialise SLAMcore API.

A callback can optionally be specified to be notified of log messages with severity greater or equal than the specified value.

The log callback implementation must guarantee its own thread-safety, i.e. it might be invoked, concurrently, from arbitrary threads.

The lifetime of the callback must be guaranteed until the call to slamcore::slamcoreDeinit().

Note

Not thread safe.

void slamcoreDeinit()

Deinitialise SLAMcore API.

Note

Not thread safe.

std::unique_ptr<SLAMSystemCallbackInterface> createSLAMSystem(const v0::SystemConfiguration &cfg, const Version &v = slamcore::getCurrentSDKVersion())

Create slamcore::SLAMSystemInterface instance.

Note

Not thread safe.

Parameters

• cfg – The configuration for the system.

• v – The SDK version, used internally.

Variables

static bool s_init = false

namespace slamcore

Main namespace for the SLAMcore public API

Client-library related getter methods

Get information about the client library

std::string getVersion()

Version

std::string getBuildVersion()

Build version

std::string getBuildType()

Build type

Helper conversion methods

slamcore::ImageFormat \(\leftrightarrow\) BytesPerPixel

Functions

void slamcoreInit(LogSeverity severity = LogSeverity::Count, LogCallbackT callback = nullptr)

Create SLAMSystemPollingInterface instance. Initialise SLAMcore API.

A callback can optionally be specified to be notified of log messages with severity greater or equal than the specified value.

The log callback implementation must guarantee its own thread-safety, i.e. it might be invoked, concurrently, from arbitrary threads.

The lifetime of the callback must be guaranteed until the call to slamcore::slamcoreDeinit().

Note

Not thread safe.

void slamcoreDeinit()

Deinitialise SLAMcore API.

Note

Not thread safe.

std::unique_ptr<SLAMSystemCallbackInterface> createSLAMSystem(const v0::SystemConfiguration &cfg, const Version &v = slamcore::getCurrentSDKVersion())

Create slamcore::SLAMSystemInterface instance.

Note

Not thread safe.

Parameters

• cfg – The configuration for the system.

• v – The SDK version, used internally.

const char * __attribute__ ((__used__)) SLAMCORE_SDK_VERSION_GIT

Variables

static bool s_init = false

namespace logging

Functions

void init(const char*)

void deinit()

namespace system

Functions

std::unique_ptr<SLAMSystemCallbackInterface> createSLAMSystem(const v0::SystemConfiguration&)