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STRUCT

ArdkDeviceMappingSession.Configuration

struct Configuration

Configuration settings for the mapping process.

This structure defines various parameters that control how the mapping algorithm behaves during map creation, including feature detection, tracking edges, and node splitting criteria.

Properties​

trackingEdgesDisabled​

public var trackingEdgesDisabled: Bool

Controls whether tracking edges between maps are disabled.

When false (default), the system can form tracking edges between different map nodes, improving overall map consistency. Set to true to disable this feature if needed for specific use cases.

learnedFeaturesEnabled​

public var learnedFeaturesEnabled: Bool

Enables the use of learned features for mapping.

When true, the mapping system uses neural network learned features for improved mapping quality. When false (default), the legacy feature detection method is used. Learned features generally provide better results but require more processing power.

  • Attention: Maps created with different feature detection methods are not compatible. For example, a map created with learned features cannot be merged with a map created with legacy feature detection.

mapperFrameRate​

public var mapperFrameRate: UInt32

Target frame rate for the mapping process.

Specifies the desired FPS for map processing. The actual frame rate may be lower due to device performance limitations. A value of 0 (default) uses automatic frame rate selection based on device capabilities.

splitterMaxDistanceMeters​

public var splitterMaxDistanceMeters: Float

Maximum distance before creating a new map node (in meters).

When the device travels more than this distance from the current map node, a new node will be created. A value of 0 will use native default values.

splitterMaxDurationSeconds​

public var splitterMaxDurationSeconds: Float

Maximum duration before creating a new map node (in seconds).

When mapping continues for longer than this duration on a single node, a new node will be created. A value of 0 will use native default values.

Methods​

init()​

public init()

Creates a new configuration with default values.

All parameters are set to their default values, which provide a good starting point for most mapping scenarios.