Struct Config

• Defined in File config.hpp

Nested Relationships

Nested Types

• Struct Config::Interface

• Struct Interface::Cells

• Struct Interface::Color

• Struct Interface::Covisibility

• Struct Interface::Points

• Struct Interface::Size

• Struct Config::Localization

• Struct Localization::Frame

• Struct Localization::KeyframeCreation

• Struct Localization::PointsQuery

• Struct Localization::PoseEstimation

• Struct PoseEstimation::Bundle

• Struct PoseEstimation::Ransac

• Struct Localization::Relocalization

• Struct Config::Loop

• Struct Config::Map

• Struct Map::Covisibility

• Struct Covisibility::DistanceEdge

• Struct Covisibility::LoopEdge

• Struct Covisibility::OdometryEdge

• Struct Covisibility::ProjectionEdge

• Struct Map::Neighbors

• Struct Map::Representation

• Struct Map::Visibility

• Struct Config::Slam

• Struct Slam::Aliked

• Struct Slam::Features

• Struct Slam::Inference

• Struct Slam::Siftcuda

Struct Documentation

struct Config

Aggregates every configuration section loaded from YAML.

Public Members

struct slam_mer::settings::Config::Slam _slam

struct slam_mer::settings::Config::Localization _localization

struct slam_mer::settings::Config::Map _map

struct slam_mer::settings::Config::Loop _loop

struct slam_mer::settings::Config::Interface _interface

struct Interface

Debug and visualization settings.

Public Members

struct slam_mer::settings::Config::Interface::Color _color

struct slam_mer::settings::Config::Interface::Size _size

struct slam_mer::settings::Config::Interface::Points _points

struct slam_mer::settings::Config::Interface::Cells _cells

struct slam_mer::settings::Config::Interface::Covisibility _covisibility

struct Cells

Grid-cell rendering settings.

Public Members

float _thickness

Default cell border thickness.

float _thicknessHighlighted

Highlighted cell border thickness.

std::array<unsigned int, 4> _color

Default RGBA cell color.

std::array<unsigned int, 4> _colorHighlighted

Highlight RGBA color.

struct Color

RGB colors used in 2D visualizations.

Public Members

std::array<unsigned int, 3> _point

Default map-point color.

std::array<unsigned int, 3> _inlier

Inlier-track color.

std::array<unsigned int, 3> _allPoints

All tracked points color.

std::array<unsigned int, 3> _trackingFeatures

Tracked features color.

std::array<unsigned int, 3> _text

Overlay text color.

struct Covisibility

Covisibility-edge rendering settings.

Public Members

float _thickness

Covisibility edge thickness.

std::array<unsigned int, 4> _color

Covisibility edge RGBA color.

struct Points

Point-size settings.

Public Members

float _sparseSize

Sparse point size.

float _denseSize

Dense point size.

struct Size

Generic drawing-size settings.

Public Members

int _thickness

Default line thickness.

struct Localization

Localization module settings.

Public Members

struct slam_mer::settings::Config::Localization::Frame _frame

struct slam_mer::settings::Config::Localization::PointsQuery _pointsQuery

struct slam_mer::settings::Config::Localization::PoseEstimation _pose_estimation

struct slam_mer::settings::Config::Localization::KeyframeCreation _keyframe_creation

struct slam_mer::settings::Config::Localization::Relocalization _relocalization

struct Frame

Input-frame quality constraints.

Public Members

int _minimumFeatures

Minimum features required in the frame.

double _minimumDepth

Minimum accepted depth value.

double _maximumDepth

Maximum accepted depth value.

struct KeyframeCreation

Keyframe-creation policy settings.

Public Members

int _framesInBetweenKeyframes

Minimum frames between keyframes.

bool _checkMinimumTrackedPoints

Enables tracked-point check.

int _minimumTrackedPoints

Minimum tracked points threshold.

bool _checkImageCoverage

Enables image-coverage check.

double _imageCoverageThreshold

Minimum image coverage ratio.

int _imageCoverageGridRows

Coverage grid row count.

int _imageCoverageGridCols

Coverage grid column count.

int _imageCoverageMinPointsPerGrid

Min points per grid cell.

int _imageCoverageMinGridsFilled

Min valid grid cells.

bool _checkKlDivergence

Enables KL-divergence check.

double _klDivergenceThreshold

Maximum KL divergence.

struct PointsQuery

Point-query cache and spatial lookup settings.

Public Members

int _temporalBufferSize

Number of previous frames to keep.

int _spatialQueryCells

Number of cells used for spatial queries.

struct PoseEstimation

Camera-pose estimation settings.

Public Members

int _minimumMatches

Minimum 2D-3D matches required.

int _focalLengthMaximumEstimates

Iterations for focal estimation.

double _minimumInlierRatio

Minimum accepted inlier ratio.

int _minimumInliers

Minimum accepted inlier count.

double _poseLimitsRotation

Maximum rotation delta.

double _poseLimitsTranslation

Maximum translation delta.

struct slam_mer::settings::Config::Localization::PoseEstimation::Ransac _ransac

struct slam_mer::settings::Config::Localization::PoseEstimation::Bundle _bundle

struct Bundle

Local bundle-adjustment settings.

Public Members

int _maxIterations

Maximum optimization iterations.

struct Ransac

RANSAC settings for PnP.

Public Members

int _maxIterations

Maximum RANSAC iterations.

int _minIterations

Minimum RANSAC iterations.

double _dynNumTrialsMult

Multiplier for dynamic trial count.

double _successProb

Target RANSAC success probability.

struct Relocalization

Relocalization settings.

struct Loop

Loop-detection settings.

struct Map

Map and graph-optimization settings.

Public Members

struct slam_mer::settings::Config::Map::Representation _representation

struct slam_mer::settings::Config::Map::Visibility _visibility

struct slam_mer::settings::Config::Map::Neighbors _neighbors

struct slam_mer::settings::Config::Map::Covisibility _covisibility

struct Covisibility

Covisibility-graph and optimization settings.

Public Members

bool _useSimilarity

Enables similarity-based optimization (Sim(3)).

int _moduleFps

Target processing FPS for the module.

double _relinearizeThreshold

Threshold for factor relinearization.

int _relinearizeSkip

Frames to skip between checks.

double _rigidWindowClampWeight

Clamp weight for rigid-window edges.

utils::DescriptorModel::Type _descriptorModel

Descriptor fusion mode.

struct slam_mer::settings::Config::Map::Covisibility::ProjectionEdge _projectionEdge

struct slam_mer::settings::Config::Map::Covisibility::DistanceEdge _distanceEdge

struct slam_mer::settings::Config::Map::Covisibility::OdometryEdge _odometryEdge

struct slam_mer::settings::Config::Map::Covisibility::LoopEdge _loopEdge

struct DistanceEdge

3D distance-edge settings.

Public Members

double _sigma

Measurement sigma.

bool _robust

Enables robust loss.

modes::RobustLossType _loss

Robust loss function.

double _shape

Robust loss shape parameter.

struct LoopEdge

Loop-closure edge settings.

Public Members

double _weight

Relative weight for loop edges.

struct OdometryEdge

Relative odometry-edge settings.

Public Members

int _minimumMatches

Minimum matches for odometry factors.

double _sigmaRotation

Rotation sigma.

double _sigmaTranslation

Translation sigma.

double _sigmaScale

Scale sigma.

bool _robust

Enables robust loss.

modes::RobustLossType _loss

Robust loss function.

double _shape

Robust loss shape parameter.

struct ProjectionEdge

2D projection-edge settings.

Public Members

double _sigma

Measurement sigma.

bool _robust

Enables robust loss.

modes::RobustLossType _loss

Robust loss function.

double _shape

Robust loss shape parameter.

struct Neighbors

Spatial-neighborhood settings.

Public Members

size_t _pointsPerKeyframe

Maximum points sampled per keyframe.

double _distanceThreshold

Distance threshold for neighbors.

int _searchRadius

Neighborhood search radius.

struct Representation

Point-cloud representation settings.

Public Members

double _voxelHalfSize

Half-size of each voxel cell.

double _coarseHalfSize

Half-size for coarse map buckets.

double _scaleFactor

Global map scale factor.

struct Visibility

Point-visibility settings.

Public Members

double _iouThreshold

IoU threshold for visibility consistency.

struct Slam

SLAM front-end settings.

Public Members

modes::SystemMode _operationMode

Requested runtime mode.

struct slam_mer::settings::Config::Slam::Features _features

struct slam_mer::settings::Config::Slam::Inference _inference

struct slam_mer::settings::Config::Slam::Aliked _aliked

struct slam_mer::settings::Config::Slam::Siftcuda _sift

struct Aliked

ALIKED-specific settings.

Public Members

std::string _modelName

ALIKED model variant name.

float _scoreTh

Minimum ALIKED score.

int _cudaDeviceId = 0

CUDA device identifier used by ALIKED.

struct Features

Feature extraction settings.

Public Members

modes::FeatureType _type

Feature extractor backend.

bool _rootsift

Enables RootSIFT normalization.

size_t _maximumFeaturesExtract

Maximum number of extracted features.

int _faissCudaDeviceId = 0

CUDA device identifier used by FAISS feature matching.

int _borderCutWidth

Horizontal crop border in pixels.

int _borderCutHeight

Vertical crop border in pixels.

struct Inference

Depth-inference settings.

Public Members

modes::DepthInferenceModel _model

Depth estimator backend.

std::string _modelPath

Path to the inference model.

double _lowestConfidence

Confidence threshold for valid depth.

int _cudaDeviceId = 0

CUDA device identifier used by depth inference.

struct Siftcuda

SIFT/SiftCUDA-specific settings.

Public Members

int _numOctaves

Number of pyramid octaves.

double _initBlur

Initial Gaussian blur.

double _thresh

Detector threshold.

double _minScale

Minimum accepted scale.

bool _upScale

Enables image up-scaling before extraction.