Class InterfaceRerun

Inheritance Relationships

Base Type

Class Documentation

class InterfaceRerun : public slam_mer::interface::AbstractInterface

Concrete visualization backend that publishes data to Rerun.

Implements all backend hooks required by AbstractInterface and owns the lifecycle of the shared Rerun recording stream.

Public Functions

void initiate(PointersVisualization pointers_, const double queryMapLogFrequency_ = 10.0, const double queryCameraLogFrequency_ = 10.0, const std::string &serverAddress_ = "")

Initialize the Rerun stream and start interface worker loops.

Parameters:

  • pointers_ – Shared bindings/queues used by the interface loops.

  • queryMapLogFrequency_ – Map logging frequency in Hz.

  • queryCameraLogFrequency_ – Camera/diagnostic logging frequency in Hz.

  • serverAddress_ – Optional gRPC address. If empty, launches a local Rerun viewer process.

virtual bool stop_interface() override

Stop interface loops and release the Rerun recording stream.

Returns:

true when shutdown completed.

Public Static Functions

static inline InterfaceRerun &get_instance()

Access the singleton backend instance.

Returns:

Reference to the process-wide InterfaceRerun object.

Private Functions

inline InterfaceRerun()

Construct the singleton backend.

inline ~InterfaceRerun()

Destroy the backend and ensure shutdown.

InterfaceRerun(const InterfaceRerun&) = delete

Deleted copy constructor (singleton).

InterfaceRerun &operator=(const InterfaceRerun&) = delete

Deleted copy assignment operator (singleton).

virtual void __log_messages() override

Publish queued text messages.

virtual void __log_images() override

Publish RGB/depth/debug images.

virtual void __log_points() override

Publish sparse map points.

virtual void __log_cells() override

Publish map cells/voxel boxes.

virtual void __log_dense_point_cloud() override

Publish dense point cloud.

virtual void __log_camera_location() override

Publish current camera transform and camera diagnostics.

virtual void __log_histogram_counts() override

Publish localization histogram counts.

virtual void __log_keyframe_criteria() override

Publish keyframe-creation criteria histogram.

virtual void __log_covisibility() override

Publish covisibility graph edges.