| 11 | #include "utils/Utils.h" |
| 12 | |
| 13 | Parameters::Parameters() { |
| 14 | // default values |
| 15 | tic_ = Eigen::Vector3d::Zero(); |
| 16 | qic_ = Eigen::Matrix3d::Identity(); |
| 17 | health_params_.min_tracked_keypoints = 8; |
| 18 | health_params_.kf_wait_time = 0.5; |
| 19 | health_params_.consecutive_keyframes = 5; |
| 20 | debug_mode_ = false; |
| 21 | image_delay_ = 0.0; |
| 22 | |
| 23 | // Enable loop closure by default |
| 24 | loop_closure_params_.enabled = true; |
| 25 | loop_closure_params_.min_correspondences = 25; |
| 26 | loop_closure_params_.pnp_reprojection_thresh = 20.0; |
| 27 | loop_closure_params_.pnp_ransac_iterations = 100; |
| 28 | resize_factor_ = 1.0; |
| 29 | } |
| 30 | |
| 31 | void Parameters::loadParameters(const std::string& config_file) { |
| 32 | cv::FileStorage fsSettings(config_file, cv::FileStorage::READ); |
nothing calls this directly
no outgoing calls
no test coverage detected