Struct Config::Slam

Defined in File config.hpp

Nested Relationships

This struct is a nested type of Struct Config.

Nested Types

Struct Documentation

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.