include/svo/config.h

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// This file is part of SVO - Semi-direct Visual Odometry.
//
// Copyright (C) 2014 Christian Forster <forster at ifi dot uzh dot ch>
// (Robotics and Perception Group, University of Zurich, Switzerland).
//
// SVO is free software: you can redistribute it and/or modify it under the
// terms of the GNU General Public License as published by the Free Software
// Foundation, either version 3 of the License, or any later version.
//
// SVO is distributed in the hope that it will be useful, but WITHOUT ANY
// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.

#ifndef SVO_CONFIG_H_
#define SVO_CONFIG_H_

#include <string>
#include <stdint.h>
#include <stdio.h>

namespace svo {

using std::string;

class Config
{
public:
  static Config& getInstance();

  static string& traceName() { return getInstance().trace_name; }

  static string& traceDir() { return getInstance().trace_dir; }

  static size_t& nPyrLevels() { return getInstance().n_pyr_levels; }

  static bool& useImu() { return getInstance().use_imu; }

  static size_t& coreNKfs() { return getInstance().core_n_kfs; }

  static double& mapScale() { return getInstance().map_scale; }

  static size_t& gridSize() { return getInstance().grid_size; }

  static double& initMinDisparity() { return getInstance().init_min_disparity; }

  static size_t& initMinTracked() { return getInstance().init_min_tracked; }

  static size_t& initMinInliers() { return getInstance().init_min_inliers; }

  static size_t& kltMaxLevel() { return getInstance().klt_max_level; }

  static size_t& kltMinLevel() { return getInstance().klt_min_level; }

  static double& reprojThresh() { return getInstance().reproj_thresh; }

  static double& poseOptimThresh() { return getInstance().poseoptim_thresh; }

  static size_t& poseOptimNumIter() { return getInstance().poseoptim_num_iter; }

  static size_t& structureOptimMaxPts() { return getInstance().structureoptim_max_pts; }

  static size_t& structureOptimNumIter() { return getInstance().structureoptim_num_iter; }

  static double& lobaThresh() { return getInstance().loba_thresh; }

  static double& lobaRobustHuberWidth() { return getInstance().loba_robust_huber_width; }

  static size_t& lobaNumIter() { return getInstance().loba_num_iter; }

  static double& kfSelectMinDist() { return getInstance().kfselect_mindist; }

  static double& triangMinCornerScore() { return getInstance().triang_min_corner_score; }

  static size_t& subpixNIter() { return getInstance().subpix_n_iter; }

  static size_t& maxNKfs() { return getInstance().max_n_kfs; }

  static double& imgImuDelay() { return getInstance().img_imu_delay; }

  static size_t& maxFts() { return getInstance().max_fts; }

  static size_t& qualityMinFts() { return getInstance().quality_min_fts; }

  static int& qualityMaxFtsDrop() { return getInstance().quality_max_drop_fts; }

private:
  Config();
  Config(Config const&);
  void operator=(Config const&);
  string trace_name;
  string trace_dir;
  size_t n_pyr_levels;
  bool use_imu;
  size_t core_n_kfs;
  double map_scale;
  size_t grid_size;
  double init_min_disparity;
  size_t init_min_tracked;
  size_t init_min_inliers;
  size_t klt_max_level;
  size_t klt_min_level;
  double reproj_thresh;
  double poseoptim_thresh;
  size_t poseoptim_num_iter;
  size_t structureoptim_max_pts;
  size_t structureoptim_num_iter;
  double loba_thresh;
  double loba_robust_huber_width;
  size_t loba_num_iter;
  double kfselect_mindist;
  double triang_min_corner_score;
  size_t triang_half_patch_size;
  size_t subpix_n_iter;
  size_t max_n_kfs;
  double img_imu_delay;
  size_t max_fts;
  size_t quality_min_fts;
  int quality_max_drop_fts;
};

} // namespace svo

#endif // SVO_CONFIG_H_