94 lines
3.0 KiB
C++
94 lines
3.0 KiB
C++
/**
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BSD 3-Clause License
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This file is part of the Basalt project.
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https://gitlab.com/VladyslavUsenko/basalt.git
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Copyright (c) 2019, Vladyslav Usenko and Nikolaus Demmel.
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright notice, this
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list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the documentation
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and/or other materials provided with the distribution.
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* Neither the name of the copyright holder nor the names of its
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contributors may be used to endorse or promote products derived from
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this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#pragma once
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#include <string>
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namespace basalt {
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struct VioConfig {
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VioConfig();
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void load(const std::string& filename);
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void save(const std::string& filename);
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std::string optical_flow_type;
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int optical_flow_detection_grid_size;
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float optical_flow_max_recovered_dist2;
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int optical_flow_pattern;
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int optical_flow_max_iterations;
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int optical_flow_levels;
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float optical_flow_epipolar_error;
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int optical_flow_skip_frames;
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int vio_max_states;
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int vio_max_kfs;
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int vio_min_frames_after_kf;
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float vio_new_kf_keypoints_thresh;
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bool vio_debug;
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double vio_outlier_threshold;
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int vio_filter_iteration;
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int vio_max_iterations;
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double vio_obs_std_dev;
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double vio_obs_huber_thresh;
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double vio_min_triangulation_dist;
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bool vio_enforce_realtime;
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bool vio_use_lm;
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double vio_lm_lambda_min;
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double vio_lm_lambda_max;
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double mapper_obs_std_dev;
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double mapper_obs_huber_thresh;
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int mapper_detection_num_points;
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double mapper_num_frames_to_match;
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double mapper_frames_to_match_threshold;
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double mapper_min_matches;
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double mapper_ransac_threshold;
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double mapper_min_track_length;
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double mapper_max_hamming_distance;
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double mapper_second_best_test_ratio;
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int mapper_bow_num_bits;
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double mapper_min_triangulation_dist;
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bool mapper_no_factor_weights;
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bool mapper_use_lm;
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double mapper_lm_lambda_min;
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double mapper_lm_lambda_max;
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};
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} // namespace basalt
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