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Struct slamcore::v0::SystemConfiguration
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struct SystemConfiguration
Configuration for the system.
The
Mode
member sets the positioning mode:Use
PositioningMode::SLAM
to enable relocalisation and loop-closure.Use
PositioningMode::ODOMETRY_ONLY
for visual-inertial odometry only.
Public Members
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DataSource Source = DataSource::RealSense
Input data source for SLAM.
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std::string DatasetPath
Path to a dataset if DataSource::Dataset is set.
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int DeviceID = 0
Device index for a camera device.
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std::string ConfigFilePath
Path to a preset configuration file (optional)
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bool DisableSLAM = false
Disable SLAM, just pass the data from the camera.
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PositioningMode Mode = PositioningMode::SLAM
Positioning mode to use.
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std::string LoadSessionFilePath
Session file to load (path)
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bool GenerateMap = false
Generate height map in the session file.
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bool EnableWheelOdometry = false
Enable wheel odometry.
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bool EnableDepth = true
Enable depth stream.
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bool EnableColor = false
Enable color stream.