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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 LIDAR 2D Map data. More...
Functions for accessing LIDAR 2D Map data.
| slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_lidar2dmap_generate_fullmap | ( | slamtec_aurora_sdk_session_handle_t | handle, |
| slamtec_aurora_sdk_occupancy_grid_2d_handle_t * | generated_gridmap_handle_out, | ||
| const slamtec_aurora_sdk_2d_gridmap_generation_options_t * | build_options, | ||
| int | wait_for_data_sync, | ||
| uint64_t | timeout_ms | ||
| ) |
Generate the full map on demand.
Caller can use this function to generate the full map on demand and return the handle of the generated map.
The caller thread will be blocked until the map is generated or the timeout occurs.
The caller should release the map handle by calling slamtec_aurora_sdk_lidar2dmap_gridmap_release when the map is no longer needed. 2
| handle | - the session handle |
| generated_gridmap_handle_out | - the handle of the generated full map will be stored in this pointer |
| build_options | - the generation options |
| wait_for_data_sync | - if non-zero, the function will wait for the map data to be synced before generating the map |
| timeout_ms | - the timeout in milliseconds |
| slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_lidar2dmap_get_supported_grid_resultion_range | ( | slamtec_aurora_sdk_session_handle_t | handle, |
| float * | min_resolution, | ||
| float * | max_resolution | ||
| ) |
Get the supported grid resolution range of the LIDAR 2D map.
Caller can use this function to get the supported grid resolution range. The resolution is the size of the grid cell in meters.
The map resultion can be specified in the generation options. If the resolution is not in the supported range, the map will not be generated. 2
| handle | - the session handle |
| min_resolution | - the minimum resolution will be stored in this pointer |
| max_resolution | - the maximum resolution will be stored in this pointer |
| slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_lidar2dmap_get_supported_max_grid_cell_count | ( | slamtec_aurora_sdk_session_handle_t | handle, |
| size_t * | max_cell_count | ||
| ) |
Get the supported maximum grid cell count of the LIDAR 2D map.
Caller can use this function to get the supported maximum grid cell count. Each cell is stored as a byte.
For example, for a map with 100 meters width and 100 meters height, if the resolution is 0.1 meter, the maximum cell count will be (100/0.1) * (100/0.1) = 1,000,000 .
If the cell count is larger than the supported maximum, the map will not be generated. 2
| handle | - the session handle |
| max_cell_count | - the maximum cell count will be stored in this pointer |
| slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_lidar2dmap_gridmap_get_dimension | ( | const slamtec_aurora_sdk_occupancy_grid_2d_handle_t | gridmap_handle, |
| slamtec_aurora_sdk_2dmap_dimension_t * | dimension_out, | ||
| int | get_max_capcity | ||
| ) |
Get the current dimension of the LIDAR 2D map.
Caller can use this function to get the current dimension of a LIDAR 2D map object. 2
| gridmap_handle | - the handle of the LIDAR 2D map |
| dimension_out | - the dimension will be stored in this pointer. The dimension is in logical size unit, i.e. in meters. |
| get_max_capcity | - if non-zero, the function will return the maximum capacity of the map instead of the current dimension. |
| slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_lidar2dmap_gridmap_get_resolution | ( | const slamtec_aurora_sdk_occupancy_grid_2d_handle_t | gridmap_handle, |
| float * | resolution_out | ||
| ) |
Get the resolution of the LIDAR 2D map.
Caller can use this function to get the resolution of a LIDAR 2D map object . 2
| gridmap_handle | - the handle of the LIDAR 2D map |
| resolution_out | - the resolution will be stored in this pointer |
| slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_lidar2dmap_gridmap_read_cell_data | ( | const slamtec_aurora_sdk_occupancy_grid_2d_handle_t | gridmap_handle, |
| const slamtec_aurora_sdk_rect_t * | fetch_rect, | ||
| slamtec_aurora_sdk_2d_gridmap_fetch_info_t * | info_out, | ||
| uint8_t * | cell_buffer, | ||
| size_t | cell_buffer_size, | ||
| int | l2p_mapping | ||
| ) |
Read the cell data of the LIDAR 2D map.
Caller can use this function to read the cell data of a LIDAR 2D map object.
The caller is required to provide a buffer to store the cell data.
The buffer size must be at least as large as the number of cells in the rect otherwise the function will return SLAMTEC_AURORA_SDK_ERRORCODE_INVALID_ARGUMENT.
There is an exception that if either the cell_buffer is set to NULL or the cell_buffer_size is set to 0, the function will return SLAMTEC_AURORA_SDK_ERRORCODE_OK and the info_out will be filled with the fetch info.
In order to get the number of cells in the rect, caller can use the info_out->cell_width and info_out->cell_height fields to calculate the number of cells.
The retrieved map data may have different origin point (x,y) compared to the one specified in the fetch_rect. The caller can use the info_out to check the real point value. 2
| gridmap_handle | - the handle of the LIDAR 2D map |
| fetch_rect | - the rect in logic uints to be fetched |
| info_out | - the fetch info will be stored in this pointer |
| cell_buffer | - the buffer to store the cell data |
| cell_buffer_size | - the buffer size |
| l2p_mapping | - if non-zero, the function will perform log-odd to linear (0-255) mapping to each cell value. For visualization purpose, this is very useful. |
| void AURORA_SDK_API slamtec_aurora_sdk_lidar2dmap_gridmap_release | ( | slamtec_aurora_sdk_occupancy_grid_2d_handle_t | gridmap_handle | ) |
Release the LIDAR 2D map.
Caller can use this function to release a generated LIDAR 2D map object. 2
| gridmap_handle | - the handle of the LIDAR 2D map |
| slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_lidar2dmap_previewmap_get_and_reset_update_dirty_rect | ( | slamtec_aurora_sdk_session_handle_t | handle, |
| slamtec_aurora_sdk_rect_t * | dirty_rect_out, | ||
| int * | map_big_change | ||
| ) |
Get the dirty rect of the LIDAR 2D preview map and reset the dirty rect.
Caller can use this function to get the dirty rect of the LIDAR 2D preview map and reset the dirty rect.
The dirty rect is the area that has been updated by the background map generation thread. 2
| handle | - the session handle |
| dirty_rect_out | - the dirty rect will be stored in this pointer |
| map_big_change | - the map big change flag will be stored in this pointer. If there is a big change, the map will be redrawn and this flag will be set to true. It commonly happens when there is a loop closure or a new map has been loaded. |
| const slamtec_aurora_sdk_occupancy_grid_2d_handle_t AURORA_SDK_API slamtec_aurora_sdk_lidar2dmap_previewmap_get_gridmap_handle | ( | slamtec_aurora_sdk_session_handle_t | handle | ) |
Get the handle of the LIDAR 2D preview map.
Caller can use this function to get the handle of the LIDAR 2D preview map.
The handle can be used to access the preview map data.
The handle cannot be released by the caller. 2
| handle | - the session handle |
| int AURORA_SDK_API slamtec_aurora_sdk_lidar2dmap_previewmap_is_auto_floor_detection | ( | slamtec_aurora_sdk_session_handle_t | handle | ) |
Check if the auto floor detection is enabled for the LIDAR 2D preview map.
Caller can use this function to check if the auto floor detection is enabled for the LIDAR 2D preview map. 2
| handle | - the session handle |
| int AURORA_SDK_API slamtec_aurora_sdk_lidar2dmap_previewmap_is_background_updating | ( | slamtec_aurora_sdk_session_handle_t | handle | ) |
Check if the background map generation for the LIDAR 2D preview map is running.
Caller can use this function to check if the background map generation for the LIDAR 2D preview map is running. 2
| handle | - the session handle |
| slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_lidar2dmap_previewmap_require_redraw | ( | slamtec_aurora_sdk_session_handle_t | handle | ) |
Require the LIDAR 2D preview map to be redrawn.
Caller can use this function to require the LIDAR 2D preview map to be redrawn.
The preview map is the map that been generated on the fly during the mapping process by the background thread.
It is very useful for the caller to visualize the map in real time. 2
| handle | - the session handle |
| slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_lidar2dmap_previewmap_set_auto_floor_detection | ( | slamtec_aurora_sdk_session_handle_t | handle, |
| int | enable | ||
| ) |
Set the auto floor detection for the LIDAR 2D preview map.
Caller can use this function to set the auto floor detection for the LIDAR 2D preview map.
If the auto floor detection is enabled, the detector will update the height range used to generate the preview map.
The height range is based on the current floor description.
Auto floor detection is useful for multiple floor scenarios. 2
| handle | - the session handle |
| enable | - if true, the auto floor detection will be enabled |
| slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_lidar2dmap_previewmap_start_background_update | ( | slamtec_aurora_sdk_session_handle_t | handle, |
| const slamtec_aurora_sdk_2d_gridmap_generation_options_t * | build_options | ||
| ) |
Start the background map generation for the LIDAR 2D preview map.
Caller can use this function to start the background map generation for the LIDAR 2D preview map. Otherwise, the preview map will not be updated.
The preview map is the map that been generated on the fly during the mapping process by the background thread.
It is very useful for the caller to visualize the map in real time. 2
| handle | - the session handle |
| build_options | - the generation options |
| void AURORA_SDK_API slamtec_aurora_sdk_lidar2dmap_previewmap_stop_background_update | ( | slamtec_aurora_sdk_session_handle_t | handle | ) |
Stop the background map generation for the LIDAR 2D preview map.
Caller can use this function to stop the background map generation for the LIDAR 2D preview map. 2
| handle | - the session handle |
1.9.1