| 40 | { |
| 41 | |
| 42 | initializer::initializer(const camera::setup_type_t setup_type, |
| 43 | data::map_database *map_db, data::bow_database *bow_db, |
| 44 | const YAML::Node &yaml_node) |
| 45 | : setup_type_(setup_type), map_db_(map_db), bow_db_(bow_db), |
| 46 | num_ransac_iters_(yaml_node["Initializer.num_ransac_iterations"].as<unsigned int>(100)), |
| 47 | min_num_triangulated_(yaml_node["Initializer.num_min_triangulated_pts"].as<unsigned int>(50)), |
| 48 | parallax_deg_thr_(yaml_node["Initializer.parallax_deg_threshold"].as<float>(1.0)), |
| 49 | reproj_err_thr_(yaml_node["Initializer.reprojection_error_threshold"].as<float>(4.0)), |
| 50 | num_ba_iters_(yaml_node["Initializer.num_ba_iterations"].as<unsigned int>(20)), |
| 51 | scaling_factor_(yaml_node["Initializer.scaling_factor"].as<float>(1.0)) |
| 52 | { |
| 53 | spdlog::debug("CONSTRUCT: module::initializer"); |
| 54 | } |
| 55 | |
| 56 | initializer::~initializer() |
| 57 | { |