Cslam Interfaces

1. Start the Interface of Cslam Map Sharing Mode

public static extern bool xslam_start_map();

2. Stop the Interface of Cslam Map sharing Mode

public static extern bool xslam_stop_map();

3. Interface of Creating Cslam Map File

xslam_save_map_and_switch_to_cslam(string mapStream, detectCslamSaved_callback cslamSavedCallback, detectLocalized_callback cslamLocalizedCallBack);

Input:

1)Map file path

2)return map save status callback function
static void OnCslamSaved(int status_of_saved_map, int map_quality)

status_of_saved_map status：-1 map save failed 2 map save successed
map_quality map quality（0-100）

static void OnSaveLocalized(float percentc)

percentc map matching

3)return map matching callback function

Output:

1). false callback interface failed
2). true callback interface successed and map file has been generated

4. Save Cslam Map File to Local Interface

public static extern bool xslam_load_map_and_switch_to_cslam(string mapStream, detectSwitched_callback cslamSwitchedCallback, detectLocalized_callback cslamLocalizedCallBack);

Input:

1)Map file loading path

2)return map loading status callback function

3)return map matching callback function

static void OnCslamSwitched(int map_quality)
map_quality map quality
static void OnLoadLocalized(float percentc)
Percentc map matching

Output:

1)false callback interface failed
2)true callback interface successed and map file has been generated

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