File slam_core.hpp

Core SLAM system API interface.

namespace slamcore

Helper conversion methods

slamcore::ImageFormat \(\leftrightarrow\) BytesPerChannel

Client-library related getter methods

Get information about the client library

class SLAMCoreInterface

#include <slam_core.hpp>

Core SLAM system functionality.

Subclassed by SLAMSystemInterface

Public Functions

virtual ~SLAMCoreInterface() = default

virtual void open(const char *name = nullptr) = 0

Open the Slamcore device.

Parameters

name – Optional parameters.

virtual void openWithSession(const char *path, const char *name = nullptr) = 0

Open the Slamcore device with preloaded session file.

Parameters

• path – Path to the session file.

• name – Optional parameters.

virtual void close() = 0

Close the Slamcore device.

virtual bool isOpen() const = 0

Check if the Slamcore device is already open.

virtual void start() = 0

Start streaming data.

virtual void stop() = 0

Stop streaming data.

virtual bool isRunning() const = 0

Check if we are streaming.

virtual bool isStreamEnabled(Stream s) const = 0

Check if a stream of data is enabled.

Parameters

s – Stream to check.

virtual void setStreamEnabled(Stream s, bool v) = 0

Enable/disable streaming of particular data.

Parameters

• s – slamcore::Stream to configure.

• v – True/False to enable/disable respectively