API¶
API¶
-
class indem::CIMRSDK¶
This is SDK interface.
Public Functions
-
bool Init(MRCONFIG config = {0})¶
start all thread to get driver data and pose with config
- 参数
config -- if config is not use, all default config will be set
-
void Release()¶
release all resources which SDK used
-
int GetCapbility(MRCapbility cap)¶
depreciate
-
ModuleInfo GetModuleInfo()¶
query module informations
-
MoudleAllParam GetModuleParams()¶
query calibration of module
-
void RegistModulePoseCallback(DataCallback cb, void *param)¶
add callback function to get pose data
- 参数
cb -- callback function to regist
param -- pass to callback function
-
void RegistModuleCameraCallback(ModuleImageCallback cb, void *param)¶
add callback function to get image data
- 参数
cb -- callback function to regist
param -- pass to callback function
-
void RegistImgCallback(ImgCallback cb)¶
add callback function to get rectified image data
- 参数
cb -- callback function to regist
-
void RegistRectifiedImgCallback(RectifiedImgCallback cb)¶
add callback function to get rectified image data
- 参数
cb -- callback function to regist
-
void RegistDisparityCallback(DisparityCallback cb)¶
add callback function to get disparity data
- 参数
cb -- callback function to regist
-
void RegistDepthCallback(DepthCallback cb)¶
add callback function to get depth data
- 参数
cb -- callback function to regist
-
void RegistPointCloudCallback(PointCloudCallback cb)¶
add callback function to get point cloud
- 参数
cb -- callback function to regist
-
void RegistDetectorCallback(DetectorImgCallback cb)¶
add callback function to get detector image
- 参数
cb -- callback function to regist
-
void RegistModuleIMUCallback(ModuleIMUCallback cb)¶
add callback function to get imu data
- 参数
cb -- callback function to regist
param -- pass to callback function
-
void BeforeSlamInit(void *inParam)¶
data callback function
- 参数
inParam -- pass params to slam before it inited
-
bool ImportMap(const char *fullpath)¶
import map to slam module
- 参数
fullpath -- fullpath of the map
- 返回
true if success, else false.
-
bool ExportMap(const char *fullpath)¶
export map from slam module
- 参数
fullpath -- fullpath of the map which wante to save
- 返回
true if success, else false.
-
void BeforePluginInit(const char *pluginName, void *param)¶
some plugin may be init with params.
This interface pass params to Init() function of plugins.
- 参数
pluginName -- which plugin should be given.
param -- params to be pass.
-
int LoadPlugin(const char *pluginName)¶
load plugin manually.
- 参数
pluginName -- which plugin should be loaded.
-
int AddPluginCallback(const char *pluginName, const char *callbackName, PluginCallback cb, void *param)¶
some plugin may have outputs.
Here give a way to get plugin output data.
- 参数
pluginName -- which plugin should be add.
callbackName -- which callback function should be add or replace.
cb -- pointer of callback function.
param -- which will be passed to callback function.
- 返回
true if success
-
int InvokePluginMethod(const char *pluginName, const char *methodName, void *inParam, void *outParam)¶
some plugin may have its own method.
Here give a way to invoke these method.
- 参数
pluginName -- which plugin should be added.
methodName -- which method should be called.
inParam -- pointer passed in.
outParam -- pointer to retrieved.
- 返回
false if fail
-
void ReleasePlugin(const char *pluginName)¶
release plugin manually.
- 参数
pluginName -- which plugin should be release.
-
bool EnableRectifyProcessor()¶
enable rectify process.
- 返回
if success return true.
-
bool EnableDisparityProcessor()¶
enable disparity process.
- 返回
if success return true.
-
bool EnableDepthProcessor()¶
enable depth process.
- 返回
if success return true.
-
bool EnablePointProcessor()¶
enable point cloud process.
- 返回
if success return true.
-
bool EnableDetectorProcessor()¶
enable detector process.
- 返回
if success return true.
-
bool DisableAllProcessors()¶
disanable all processors.
- 返回
if success return true.
-
bool EnableLRConsistencyCheck()¶
enable L-R Consistency check.
- 返回
if success return true.
-
bool DisableLRConsistencyCheck()¶
disanable L-R Consistency check.
- 返回
if success return true.
-
bool SetDepthCalMode(indem::DepthCalMode mode)¶
Set depth calculate mode.
- 返回
if success return true.
Public Static Functions
-
static void ListPluginsInfo(int *pluginNum, char **pluginsName)¶
display all plugins loaded currently
- 参数
pluginNum -- plugin's count retrieved
pluginName -- plugin's names retrieved
-
static void ListPluginInfo(const char *pluginsName, int *major, int *minor, char *developer)¶
display all plugin's information
- 参数
pluginName -- which plugin information to be query
major..........plugin's -- major version
minor..........plugin's -- minor version
developer......plugin's -- developer name
-
bool Init(MRCONFIG config = {0})¶