schema: unit-compose/v0alpha1
module: lidar_slam_synthetic_room

inputs:
  lidar_frame: { type: lidar.SynchronizedFrame/v1 }

units:
  scan_prepare:
    type: lidar.scan_prepare/v1
    config:
      max_scan_points: 384
      max_trail_poses: 512
      max_keyframe_poses: 160
      max_map_points: 2048
      max_edges: 320
    inputs: { frame: lidar_frame }
    outputs: { prepared: prepared_frame }
  slam:
    type: lidar.slamwich/v1
    config:
      max_scan_points: 384
      max_trail_poses: 512
      max_keyframe_poses: 160
      max_map_points: 2048
      max_edges: 320
    inputs: { prepared: prepared_frame }
    outputs: { observation: slam_observation }
  snapshot:
    type: lidar.snapshot/v1
    config:
      max_scan_points: 384
      max_trail_poses: 512
      max_keyframe_poses: 160
      max_map_points: 2048
      max_edges: 320
    inputs: { frame: lidar_frame, observation: slam_observation }
    outputs: { snapshot: slam_snapshot }

outputs:
  snapshot: slam_snapshot