Struct slamcore::v1::SystemConfiguration
-
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
-
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)