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Dummy library template: #include <SLAMBenchAPI.h> #include <io/sensor/CameraSensorFinder.h> #include <io/sensor/CameraSensor.h> #include <opencv2/core/mat.hpp>

// Define parameters int example_param, default_example_param = 0;

// Define sensors slambench::io::CameraSensor *rgb_sensor;

// Define outputs slambench::outputs::Output *pose_output;

// Define OpenCV image to hold data cv::Mat *cv_rgb;

void set_outputs(SLAMBenchLibraryHelper * slam_settings) { pose_output = new slambench::outputs::Output("KinectFusion Pose", slambench::values::VT_POSE, true); slam_settings->GetOutputManager().RegisterOutput(pose_output); }

bool set_sensors(SLAMBenchLibraryHelper * slam_settings) { slambench::io::CameraSensorFinder sensor_finder; rgb_sensor = sensor_finder.FindOne(slam_settings->get_sensors(), {{"camera_type", "rgb"}}); if(rgb_sensor == nullptr) { std::cerr << "Invalid sensors found, Grey not found." << std::endl; return false; } if(rgb_sensor->PixelFormat != slambench::io::pixelformat::RGB_III_888) { std::cerr << "Grey sensor is not in G_I_8 format" << std::endl; return false; } if(rgb_sensor->FrameFormat != slambench::io::frameformat::Raster) { std::cerr << "Grey sensor is not in raster format" << std::endl; return false; } cv_rgb = new cv::Mat (rgb_sensor->Height, rgb_sensor->Width, CV_8UC3);

return true; }

bool sb_new_slam_configuration(SLAMBenchLibraryHelper * slam_settings) { // Declare parameters slam_settings->addParameter(TypedParameter<int>("short", "long-option", "Description", &example_param, &default_example_param)); return true; }

bool sb_init_slam_system(SLAMBenchLibraryHelper * slam_settings) { set_outputs(slam_settings); set_sensors(slam_settings); return true; }

bool sb_update_frame (SLAMBenchLibraryHelper * , slambench::io::SLAMFrame* s) { if(s->FrameSensor == rgb_sensor) { memcpy(cv_rgb->data, s->GetData(), s->GetSize()); s->FreeData(); return true; }

return false; }

bool sb_process_once (SLAMBenchLibraryHelper * slam_settings) { return true; }

bool sb_update_outputs(SLAMBenchLibraryHelper *lib, const slambench::TimeStamp *ts) {

if(pose_output->IsActive()) { Eigen::Matrix4f mat; std::lock_guard<FastLock> lock (lib->GetOutputManager().GetLock()); pose_output->AddPoint(*ts, new slambench::values::PoseValue(mat)); }

return true; }

bool sb_clean_slam_system() { delete rgb_sensor; delete pose_output; delete cv_rgb; return true; }