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File system_configuration.hpp

Main configuration struct used to create the SLAM system.

Get information about the client library

std::string getVersion()

Version

std::string getBuildVersion()

Build version

std::string getBuildType()

Build type

Helper functions for slamcore::DataSource

template<class Archive>
static inline void load_minimal(const Archive&, DataSource &obj, const std::string &value)
template<class Archive>
static inline std::string save_minimal(const Archive&, const DataSource &obj)
static inline std::ostream &operator<<(std::ostream &os, const DataSource &obj)

Enums

enum class DataSource : EnumBaseT

Input data source.

Values:

enumerator Dataset
enumerator RealSense
enumerator External

Use the external sources registered with the registerExternalXXX methods below.

enumerator OakD
enumerator AutoDetect

Try and automatically detect camera sensor.

enumerator Count
namespace slamcore

Main namespace for the Slamcore public API

Helper conversion methods

slamcore::ImageFormat \(\leftrightarrow\) BytesPerChannel

Get information about the client library

std::string getVersion()

Version

std::string getBuildVersion()

Build version

std::string getBuildType()

Build type

Helper functions for slamcore::DataSource

template<class Archive>
static inline void load_minimal(const Archive&, DataSource &obj, const std::string &value)
template<class Archive>
static inline std::string save_minimal(const Archive&, const DataSource &obj)
static inline std::ostream &operator<<(std::ostream &os, const DataSource &obj)

Enums

enum class DataSource : EnumBaseT

Input data source.

Values:

enumerator Dataset
enumerator RealSense
enumerator External

Use the external sources registered with the registerExternalXXX methods below.

enumerator OakD
enumerator AutoDetect

Try and automatically detect camera sensor.

enumerator Count
namespace v0
struct SystemConfiguration
#include <system_configuration.hpp>

Configuration for the system.

The Mode member sets the positioning mode:

Public Members

std::vector<DataSource> Sources

Input data source for SLAM.

std::string DatasetPath

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

double DatasetTimeScale = -1.0

Time scale for dataset reader. For real-time processing set to 1. If <= 0 It will process the dataset as fast as possible.

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.

std::map<SensorIDT, bool> SensorEnableMap

Which sensors to enable/disable (e.g. depth, color, wheel odometry)

std::string DatasetWritePath

Path to write dataset (if any)

std::string ClientAppVersion

Version string of the client app.