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 Android

enumerator Count

namespace slamcore

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 Android

enumerator Count

namespace v0

struct SystemConfiguration

#include <system_configuration.hpp>

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

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.

namespace v1