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Struct slamcore::v0::SystemConfiguration

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

DataSource Source = DataSource::RealSense

Input data source for SLAM.

std::string DatasetPath

Path to a dataset if DataSource::Dataset is set.

int DeviceID = 0

Device index for a camera device.

std::string ConfigFilePath

Path to a preset configuration file (optional)

bool DisableSLAM = false

Disable SLAM, just pass the data from the camera.

PositioningMode Mode = PositioningMode::SLAM

Positioning mode to use.

std::string LoadSessionFilePath

Session file to load (path)

bool GenerateMap = false

Generate height map in the session file.

bool EnableWheelOdometry = false

Enable wheel odometry.

bool EnableDepth = true

Enable depth stream.

bool EnableColor = false

Enable color stream.