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SLAMTEC Aurora Public Remote SDK
1.2.0-rtm
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SLAMTEC Aurora Public Remote SDK
1.2.0-rtm
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Functions for accessing data from the remote Device. More...
Functions for accessing data from the remote Device.
| slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_dataprovider_access_map_data | ( | slamtec_aurora_sdk_session_handle_t | handle, |
| const slamtec_aurora_sdk_map_data_visitor_t * | visitor, | ||
| uint32_t * | map_ids, | ||
| size_t | map_count | ||
| ) |
Access the map data like keyframe and map points data.
Caller can use this function to access the map data like keyframe and map points data.
A visitor object contains data callback listeners must be provided
those callbacks set to NULL will be ignored
the SDK will enter stall state during the data accessing,
i.e. the background data sync will paused
if all map data should be accessed, simply pass NULL to the map_ids
| handle | - the session handle |
| visitor | - the visitor object contains data callback listeners |
| map_ids | - the map ids to be accessed |
| map_count | - the map count |
| slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_dataprovider_get_all_map_info | ( | slamtec_aurora_sdk_session_handle_t | handle, |
| slamtec_aurora_sdk_map_desc_t * | desc_buffer, | ||
| size_t | buffer_count, | ||
| size_t * | actual_count_out | ||
| ) |
Get all map info.
Caller can use this function to get all map description info.
| handle | - the session handle |
| desc_buffer | - the buffer to store the map info |
| buffer_count | - the buffer count |
| actual_count_out | - the actual count of the map info |
| slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_dataprovider_get_current_pose | ( | slamtec_aurora_sdk_session_handle_t | handle, |
| slamtec_aurora_sdk_pose_t * | pose_out | ||
| ) |
Get the current pose (base to world) in Euler angles (Roll-Pitch-Yaw RPY order) format.
Caller can use this function to get the current pose in Euler angles format.
The pose data retrieved is the cached data from previous fetched by the background data sync thread.
The pose data may be outdated. If caller needs the latest pose data, it should using the SDK listener to get the pose update event.
WARNING: gimbal lock may happen, please use the SE3 pose if possible.
| handle | - the session handle |
| pose_out | - the pose will be stored in this pointer |
| slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_dataprovider_get_current_pose_se3 | ( | slamtec_aurora_sdk_session_handle_t | handle, |
| slamtec_aurora_sdk_pose_se3_t * | pose_out | ||
| ) |
Get the current pose (base to world) in SE3 format.
Caller can use this function to get the current pose in SE3 format.
The pose data retrieved is the cached data from previous fetched by the background data sync thread.
The pose data may be outdated. If caller needs the latest pose data, it should using the SDK listener to get the pose update event.
| handle | - the session handle |
| pose_out | - the pose will be stored in this pointer |
| slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_dataprovider_get_global_mapping_info | ( | slamtec_aurora_sdk_session_handle_t | handle, |
| slamtec_aurora_sdk_global_map_desc_t * | desc_out | ||
| ) |
Get the global mapping info.
Caller can use this function to get the global mapping info.
| handle | - the session handle |
| desc_out | - the global mapping info will be stored in this pointer |
| slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_dataprovider_get_imu_info | ( | slamtec_aurora_sdk_session_handle_t | handle, |
| slamtec_aurora_sdk_imu_info_t * | info_out | ||
| ) |
Get the IMU info.
Caller can use this function to get the IMU info.
| handle | - the session handle |
| info_out | - the IMU info will be stored in this pointer |
| slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_dataprovider_get_last_device_status | ( | slamtec_aurora_sdk_session_handle_t | handle, |
| slamtec_aurora_sdk_device_status_t * | status_out, | ||
| uint64_t * | timestamp_ns_out | ||
| ) |
Get the last device status.
Caller can use this function to get the last device status.
| handle | - the session handle |
| status_out | - the status will be stored in this pointer |
| timestamp_ns_out | - the timestamp will be stored in this pointer |
| slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_dataprovider_get_mapping_flags | ( | slamtec_aurora_sdk_session_handle_t | handle, |
| slamtec_aurora_sdk_mapping_flag_t * | flags_out | ||
| ) |
Get the current mapping flags.
Caller can use this function to get the current SLAM working flags, e.g. whether Loop Closure is disabled or not
| handle | - the session handle |
| flags_out | - the flags will be stored in this pointer |
| slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_dataprovider_get_relocalization_status | ( | slamtec_aurora_sdk_session_handle_t | handle, |
| slamtec_aurora_sdk_relocalization_status_type_t * | status_out, | ||
| uint64_t * | timestamp_ns_out | ||
| ) |
Get the relocalization status.
Caller can use this function to get the relocalization status.
| handle | - the session handle |
| status_out | - the status will be stored in this pointer |
| timestamp_ns_out | - the timestamp will be stored in this pointer |
| slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_dataprovider_peek_imu_data | ( | slamtec_aurora_sdk_session_handle_t | handle, |
| slamtec_aurora_sdk_imu_data_t * | imu_data_out, | ||
| size_t | buffer_count, | ||
| size_t * | actual_count_out | ||
| ) |
Peek the IMU data.
Caller can use this function to peek the latest cached IMU data.
The IMU data is the cached data from previous fetched by the background data sync thread.
The IMU data may be outdated. If caller needs the latest IMU data, it should using the SDK listener to get the IMU update event.
| handle | - the session handle |
| imu_data_out | - the IMU data will be stored in this pointer |
| buffer_count | - the buffer count |
| actual_count_out | - the actual count of the IMU data |
| slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_dataprovider_peek_recent_lidar_scan_singlelayer | ( | slamtec_aurora_sdk_session_handle_t | handle, |
| slamtec_aurora_sdk_lidar_singlelayer_scandata_info_t * | header_out, | ||
| slamtec_aurora_sdk_lidar_scan_point_t * | scan_points_out, | ||
| size_t | buffer_count, | ||
| slamtec_aurora_sdk_pose_se3_t * | scanpose, | ||
| int | forceLatest | ||
| ) |
Peek the most recent single layer LiDAR scan data and its pose.
The most recent LIDAR scan data that its pose can be estimated by the tracking pose.
As the scan pose is calculated based on the tracking pose, the scan data may not always be the latest one. If the latest scan data is needed, caller should set forceLatest to true.
| handle | - the session handle |
| header_out | - the header will be stored in this pointer |
| scan_points_out | - the scan points will be stored in this pointer. Set to NULL if not interested in the scan points. |
| buffer_size | - the buffer sizes, set to 0 if not interested in the scan points. |
| scanpose | - the scan pose will be stored in this pointer, set to NULL if not interested in the scan pose. |
| forceLatest | - if true, the function will return the latest scan data and its pose |
| slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_dataprovider_peek_tracking_data | ( | slamtec_aurora_sdk_session_handle_t | handle, |
| slamtec_aurora_sdk_tracking_info_t * | tracking_data_out, | ||
| const slamtec_aurora_sdk_tracking_data_buffer_t * | provided_buffer_info | ||
| ) |
Peek the tracking data.
Caller can use this function to peek the latest tracking data.
The tracking data is the cached data from previous fetched by the background data sync thread.
The tracking data may be outdated. If caller needs the latest tracking data, it should using the SDK listener to get the tracking update event.
| handle | - the session handle |
| tracking_data_out | - the tracking data will be stored in this pointer |
| provided_buffer_info | - the buffer information |
1.9.1