SLAMParameters.h

#pragma once
#include "DLLInfo.h"
#include "Base/Headers/Matrix.hpp"
namespace NDEVR
{
    class File;
    struct Sensor
    {
        enum eSensor
        {
            MONOCULAR = 0,  
            STEREO = 1, 
            RGBD = 2,       
            UNKNOWN         
        };
        eSensor mode = eSensor::UNKNOWN;    
        bool use_imu = false;               
        bool use_imu_only = false;          
        bool operator==(const Sensor& sensor) const
        {
            return mode == sensor.mode
                && use_imu == sensor.use_imu
                && use_imu_only == sensor.use_imu_only;
        }
        bool operator!=(const Sensor& sensor) const
        {
            return mode != sensor.mode
                || use_imu != sensor.use_imu
                || use_imu_only != sensor.use_imu_only;
        }
    };

    enum eCameraModelType
    {
        e_pinhole,          
        e_kannala_brandt_8  
    };

    struct CameraOptions
    {
        Vector<4, fltp04> k = Vector<4, fltp04>(0.0f);  
        Vector<2, fltp04> f = Vector<2, fltp04>(0.0f);  
        Vector<2, fltp04> c = Vector<2, fltp04>(0.0f);  
        Vector<2, fltp04> p = Vector<2, fltp04>(0.0f);  
 
    };

    class SLAMParameters
    {
    public:
        Sensor sensor;                                      
        eCameraModelType camera_model = e_pinhole;          
        CameraOptions cameras[2];                           
        Matrix<fltp04, 3, 4> Tlr = Constant<Matrix<fltp04, 3, 4>>::Invalid; 
        Matrix<fltp08, 4, 4> Tbc = Matrix<fltp08, 4, 4>(1.0);   
        fltp04 bf = 30.5f;                                  
        uint04 fps = 30U;                                   
        Vector<2, uint04> image_size = Constant<Vector<2, uint04>>::Invalid;    
        int leftLappingBegin = -1;                          
        int leftLappingEnd = -1;                            
        int rightLappingBegin = -1;                         
        int rightLappingEnd = -1;                           
        fltp04 near_far_threshold = 40.0f;                  
        fltp04 depth_map_factor = 0.001f;                   
        uint04 features_per_image = 1250;                   
        fltp04 pyramid_scale_factor = 1.2f;                 
        fltp04 max_distance = Constant<fltp04>::Invalid;    
        uint04 levels = 8;                                  
        uint04 initial_fast_threshhold = 20;                
        uint04 min_fast_threshold = 7;                      
        bool insert_KFS_when_lost = false;                  
        fltp04 imu_noise_gyro = 1e-3f;                      
        fltp04 imu_noise_acc = 1e-2f;                       
        fltp04 imu_gyro_walk = 1e-7f;                       
        fltp04 imu_acc_walk = 1e-7f;                        
        fltp04 imu_frequency = 200.0f;                      
        bool imu_fast_init = false;                         
        bool loop_closing = true;                           
        ORBSLAM_API void readCamParamFile(const File& f);
        ORBSLAM_API bool readCamIMUYAMLFile(const File& f);
    };
}