Class Settings

include/Settings.h:39–231

    //TODO: change to double instead of float

    class Settings {
    public:
        /*
         * Enum for the different camera types implemented
         */
        enum CameraType {
            PinHole = 0,
            Rectified = 1,
            KannalaBrandt = 2
        };

        /*
         * Delete default constructor
         */
        Settings() = delete;

        /*
         * Constructor from file
         */
        Settings(const std::string &configFile, const int& sensor);

        /*
         * Ostream operator overloading to dump settings to the terminal
         */
        friend std::ostream &operator<<(std::ostream &output, const Settings &s);

        /*
         * Getter methods
         */
        CameraType cameraType() {return cameraType_;}
        GeometricCamera* camera1() {return calibration1_;}
        GeometricCamera* camera2() {return calibration2_;}
        cv::Mat camera1DistortionCoef() {return cv::Mat(vPinHoleDistorsion1_.size(),1,CV_32F,vPinHoleDistorsion1_.data());}
        cv::Mat camera2DistortionCoef() {return cv::Mat(vPinHoleDistorsion2_.size(),1,CV_32F,vPinHoleDistorsion1_.data());}

        Sophus::SE3f Tlr() {return Tlr_;}
        float bf() {return bf_;}
        float b() {return b_;}
        float thDepth() {return thDepth_;}

        bool needToUndistort() {return bNeedToUndistort_;}

        cv::Size newImSize() {return newImSize_;}
        float fps() {return fps_;}
        bool rgb() {return bRGB_;}
        bool needToResize() {return bNeedToResize1_;}
        bool needToRectify() {return bNeedToRectify_;}

        float noiseGyro() {return noiseGyro_;}
        float noiseAcc() {return noiseAcc_;}
        float gyroWalk() {return gyroWalk_;}
        float accWalk() {return accWalk_;}
        float imuFrequency() {return imuFrequency_;}
        Sophus::SE3f Tbc() {return Tbc_;}
        bool insertKFsWhenLost() {return insertKFsWhenLost_;}

        float depthMapFactor() {return depthMapFactor_;}