File sensor_source.hpp

Sensor sources.

Sensor source interfaces to feed data into SLAM

Functions

void registerExternalSensor(const char *name, const std::shared_ptr<SensorSourceInterface> &src)

Registers a customer-provided external source of sensor data.

Must be enabled in SystemConfiguration by setting the Source field to DataSource::External. See slam.hpp.

Note

Will throw a slamcore::slam_exception on failure.

Note

Not thread safe.

Parameters

  • name – External sensor source name.

  • src – External sensor source instance.

void loadExternalSensor(const char *name, const char *pluginFile, const char *pluginConfig = nullptr)

Loads a customer-provided external sensor plugin.

Must be enabled in SystemConfiguration by setting the Source field to DataSource::External. See slam.hpp.

Note

Will throw a slamcore::slam_exception on failure.

Note

Not thread safe.

Parameters

  • name – External sensor source name.

  • pluginFile – Path to the plugin dynamic library.

  • pluginConfig – Optional path to a plugin-specific config file.

namespace slamcore

Helper conversion methods

slamcore::ImageFormat \(\leftrightarrow\) BytesPerChannel

Get information about the client library

Functions

void registerExternalSensor(const char *name, const std::shared_ptr<SensorSourceInterface> &src)

Registers a customer-provided external source of sensor data.

Must be enabled in SystemConfiguration by setting the Source field to DataSource::External. See slam.hpp.

Note

Will throw a slamcore::slam_exception on failure.

Note

Not thread safe.

Parameters

  • name – External sensor source name.

  • src – External sensor source instance.

void loadExternalSensor(const char *name, const char *pluginFile, const char *pluginConfig = nullptr)

Loads a customer-provided external sensor plugin.

Must be enabled in SystemConfiguration by setting the Source field to DataSource::External. See slam.hpp.

Note

Will throw a slamcore::slam_exception on failure.

Note

Not thread safe.

Parameters

  • name – External sensor source name.

  • pluginFile – Path to the plugin dynamic library.

  • pluginConfig – Optional path to a plugin-specific config file.