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Struct slamcore::v0::SystemConfiguration
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struct SystemConfiguration
Configuration for the system.
The
Modemember sets the positioning mode:Use
PositioningMode::SLAMto enable relocalisation and loop-closure.Use
PositioningMode::ODOMETRY_ONLYfor visual-inertial odometry only.
Public Members
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std::vector<DataSource> Sources
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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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.
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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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std::map<SensorIDT, bool> SensorEnableMap
Which sensors to enable/disable (e.g. depth, color, wheel odometry)
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std::string DatasetWritePath
Path to write dataset (if any)