Exwayz SLAM, Map cleaner and Ground classification works with a profile mechanism, making it easier to add and select configurations depending on the environment of the dataset.
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In the following, we will only talk about SLAM profile but the mechanism is generic for the other executables, only the prefix in the name of the YAML file needs to be adapted.
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In the Structure of the package, a cfg directory contains multiple configuration files
The SLAM profiles will be automatically detected as files with .yaml extension and starting with slam_ : at start, exwayz_slam lists all available profiles in this directory and uses the one input by the user, specifying the profile name.
<aside> 💡 The profile name must be edited in the file itself, and is identified by the special key “profile_name” For instance, the name of the profile slam_00_wide.yaml is “wide” because it is the value of the key “profile_name” in the YAML file
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For adding a new profile, you can simply copy-paste one of the pre-defined profile and modifying the profile_name.
Let’s assume you’ve created a new profile and you have put it in the cfg directory of you Exwayz 3D Mapping install directory.
__profile_name__: my_profile
You can use it by simply specifying the profile name in exwayz_slam.exe commandline option:
exwayz_slam **-p** my_profile <other_cli_options>
You can also use a configuration file located anywhere on your computer, as long as it contain the YAML key odometry with structure and values (see SLAM parameters). You just have to specify the path to configuration file in
exwayz_slam **-p** <path/to/configuration/file.yaml> <other_cli_options>