slamParameters.h

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#ifndef SLAMPARAMETERS_H
#define SLAMPARAMETERS_H
 
#include "isaeslam/optimizers/AOptimizer.h"
#include <iostream>
#include <string>
#include <unordered_map>
#include <yaml-cpp/yaml.h>
 
namespace isae {
 
class AFeatureDetector;
class AFeatureMatcher;
class AFeatureTracker;
class ADataProvider;
class APoseEstimator;
class ALandmarkInitializer;
class BundleAdjustmentCERES;
class LocalMap;
 
struct FeatureMatcherStruct {
    int matcher_width;
    int matcher_height;
    std::shared_ptr<AFeatureMatcher> feature_matcher;
};
 
struct FeatureTrackerStruct {
    int tracker_width;
    int tracker_height;
    int tracker_nlvls_pyramids;
    double tracker_max_err;
    std::shared_ptr<AFeatureTracker> feature_tracker;
};
 
struct FeatureStruct {
    std::string label_feature;    
    std::string detector_label;   
    int number_detected_features; 
    int n_features_per_cell;      
    std::string tracker_label;    
    int tracker_height;           
    int tracker_width;            
    int tracker_nlvls_pyramids;   
    double tracker_max_err;       
    std::string matcher_label;    
    double max_matching_dist;     
    int matcher_height;           
    int matcher_width;            
    std::string
        lmk_triangulator; 
};
 
struct Config {
    std::string dataset_path;    
    std::string dataset_id;      
    std::string slam_mode;       
    bool multithreading;         
    bool enable_visu;            
    std::string optimizer;       
    int contrast_enhancer;       
    float clahe_clip;            
    float downsampling;          
    int marginalization;         
    bool sparsification;         
    std::string pose_estimator;  
    std::string tracker;         
    int min_kf_number;           
    int max_kf_number;           
    int fixed_frame_number;      
    float min_lmk_number;        
    float min_movement_parallax; 
    float max_movement_parallax; 
    bool mesh3D;                 
    double ZNCC_tsh;             
    double max_length_tsh;       
 
    std::vector<FeatureStruct> features_handled; 
};
 
class SLAMParameters {
  public:
    SLAMParameters(const std::string config_file);
 
    std::shared_ptr<ADataProvider> getDataProvider() { return _data_provider; }
    std::unordered_map<std::string, std::shared_ptr<AFeatureDetector>> getFeatureDetectors() { return _detector_map; }
    std::unordered_map<std::string, FeatureTrackerStruct> getFeatureTrackers() { return _tracker_map; }
    std::unordered_map<std::string, FeatureMatcherStruct> getFeatureMatchers() { return _matcher_map; }
    std::unordered_map<std::string, std::shared_ptr<ALandmarkInitializer>> getLandmarksInitializer() {
        return _lmk_init_map;
    };
 
    std::shared_ptr<APoseEstimator> getPoseEstimator() { return _pose_estimator; }
    std::shared_ptr<AOptimizer> getOptimizerFront() { return _optimizer_frontend; }
    std::shared_ptr<AOptimizer> getOptimizerBack() { return _optimizer_backend; }
    void readConfigFile(const std::string &path_config_folder);
    Config _config;
 
  private:
    std::shared_ptr<ADataProvider> _data_provider;
    std::unordered_map<std::string, std::shared_ptr<AFeatureDetector>> _detector_map;
    std::unordered_map<std::string, FeatureTrackerStruct> _tracker_map;
    std::unordered_map<std::string, FeatureMatcherStruct> _matcher_map;
    std::unordered_map<std::string, std::shared_ptr<ALandmarkInitializer>> _lmk_init_map;
 
    std::shared_ptr<APoseEstimator> _pose_estimator;
    std::shared_ptr<AOptimizer> _optimizer_frontend, _optimizer_backend;
    std::shared_ptr<LocalMap> _local_map;
 
    void createProvider();
    void createDetectors();
    void createTrackers();
    void createMatchers();
    void createPoseEstimator();
    void createLandmarkInitializers();
    void createOptimizer();
};
 
} // namespace isae
 
#endif