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SaDVIO
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This structure contains the configuration parameters located in the config file. More...
#include <slamParameters.h>
Public Attributes | |
| std::string | dataset_path |
| Path to the dataset. More... | |
| std::string | dataset_id |
| Id of the dataset. More... | |
| std::string | slam_mode |
| SLAM mode (mono, bimono, monovio...) More... | |
| bool | multithreading |
| Allow to run front-end and back-end on different threads (unstable...) More... | |
| bool | enable_visu |
| Allow visualization. More... | |
| std::string | optimizer |
| Optimizer type (ReprojectionError, AngularError...) More... | |
| int | contrast_enhancer |
| integer to choose the contrast enhancement algorithm More... | |
| float | clahe_clip |
| Clip of CLAHE (useful only if it is chosen for contrast enhancement) More... | |
| float | downsampling |
| Float to reduce the size of the image (0,5 = half the size of the img) More... | |
| int | marginalization |
| 0 no marginalization, 1 marginalization More... | |
| bool | sparsification |
| 0 no sparsification, 1 sparsification More... | |
| std::string | pose_estimator |
| Type of pose estimator. More... | |
| std::string | tracker |
| Type of tracking (matcher or klt) More... | |
| int | min_kf_number |
| Minimum KF for optimization. More... | |
| int | max_kf_number |
| Size maximum of the sliding windown. More... | |
| int | fixed_frame_number |
| Number of fixed frame for gauge fixing. More... | |
| float | min_lmk_number |
| Below this number of landmark, a KF is voted. More... | |
| float | min_movement_parallax |
| Below this parallax, no motion is considered. More... | |
| float | max_movement_parallax |
| Over this parallax, a KF is voted. More... | |
| bool | mesh3D |
| 0 no 3D mesh, 1 3D mesh More... | |
| double | ZNCC_tsh |
| Threshold on ZNCC for triangle filtering. More... | |
| double | max_length_tsh |
| Threshold on maximum length for triangle filtering. More... | |
| std::vector< FeatureStruct > | features_handled |
| types of features the slam will work on separated with commas (,) More... | |
This structure contains the configuration parameters located in the config file.
| float isae::Config::clahe_clip |
Clip of CLAHE (useful only if it is chosen for contrast enhancement)
| int isae::Config::contrast_enhancer |
integer to choose the contrast enhancement algorithm
| std::string isae::Config::dataset_id |
Id of the dataset.
| std::string isae::Config::dataset_path |
Path to the dataset.
| float isae::Config::downsampling |
Float to reduce the size of the image (0,5 = half the size of the img)
| bool isae::Config::enable_visu |
Allow visualization.
| std::vector<FeatureStruct> isae::Config::features_handled |
types of features the slam will work on separated with commas (,)
| int isae::Config::fixed_frame_number |
Number of fixed frame for gauge fixing.
| int isae::Config::marginalization |
0 no marginalization, 1 marginalization
| int isae::Config::max_kf_number |
Size maximum of the sliding windown.
| double isae::Config::max_length_tsh |
Threshold on maximum length for triangle filtering.
| float isae::Config::max_movement_parallax |
Over this parallax, a KF is voted.
| bool isae::Config::mesh3D |
0 no 3D mesh, 1 3D mesh
| int isae::Config::min_kf_number |
Minimum KF for optimization.
| float isae::Config::min_lmk_number |
Below this number of landmark, a KF is voted.
| float isae::Config::min_movement_parallax |
Below this parallax, no motion is considered.
| bool isae::Config::multithreading |
Allow to run front-end and back-end on different threads (unstable...)
| std::string isae::Config::optimizer |
Optimizer type (ReprojectionError, AngularError...)
| std::string isae::Config::pose_estimator |
Type of pose estimator.
| std::string isae::Config::slam_mode |
SLAM mode (mono, bimono, monovio...)
| bool isae::Config::sparsification |
0 no sparsification, 1 sparsification
| std::string isae::Config::tracker |
Type of tracking (matcher or klt)
| double isae::Config::ZNCC_tsh |
Threshold on ZNCC for triangle filtering.
1.8.17