| 22 | namespace vio_360 { |
| 23 | |
| 24 | Initializer::Initializer() |
| 25 | : m_is_initialized(false) |
| 26 | { |
| 27 | // Load configuration |
| 28 | const auto& config = ConfigUtils::GetInstance(); |
| 29 | |
| 30 | m_camera_width = config.camera_width; |
| 31 | m_camera_height = config.camera_height; |
| 32 | m_min_features = config.initialization_min_features; |
| 33 | m_min_observations = config.initialization_min_observations; |
| 34 | m_min_parallax = config.initialization_min_parallax; |
| 35 | m_ransac_threshold = config.initialization_ransac_threshold; |
| 36 | m_ransac_iterations = config.initialization_ransac_iterations; |
| 37 | m_min_inlier_ratio = config.initialization_min_inlier_ratio; |
| 38 | m_max_reprojection_error = config.initialization_max_reprojection_error; |
| 39 | m_init_grid_cols = config.initialization_grid_cols; |
| 40 | m_init_grid_rows = config.initialization_grid_rows; |
| 41 | } |
| 42 | |
| 43 | void Initializer::Reset() { |
| 44 | m_is_initialized = false; |
nothing calls this directly
no outgoing calls
no test coverage detected