CoFusionParams.cpp

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#include "CoFusionParams.h"
 
using namespace armarx;
 
CoFusionParams::CoFusionParams()
{
 
}
 
 
#if USE_MASKFUSION == 1
 
std::unique_ptr<MaskFusion> CoFusionParams::makeCoFusion() const
{
    Resolution::setResolution(width, height);
    Intrinsics::setIntrinics(fx, fy, cx, cy);
 
    std::unique_ptr<MaskFusion> cofusion;
 
    cofusion.reset(new MaskFusion(
                       timeDelta,
                       countThresh,
                       errThresh,
                       covThresh,
                       closeLoops,
                       iclnuim,
                       reloc,
                       photoThresh,
                       initConfidenceGlobal,
                       initConfidenceObject,
                       depthCut,
                       icpThresh,
                       fastOdom,
                       fernThresh,
                       so3,
                       frameToFrameRGB,
                       modelSpawnOffset,
                       matchingType,
                       segmentationMethod,
                       exportDirectory,
                       exportSegmentationResults,
                       usePrecomputedMasksOnly,
                       frameQueueSize
                   ));
 
    return cofusion;
}
 
 
#else
 
std::unique_ptr<CoFusion> CoFusionParams::makeCoFusion() const
{
    Resolution::setResolution(width, height);
    Intrinsics::setIntrinics(fx, fy, cx, cy);
 
    std::unique_ptr<CoFusion> cofusion;
 
    cofusion.reset(new CoFusion(
                       timeDelta,
                       countThresh,
                       errThresh,
                       covThresh,
                       closeLoops,
                       iclnuim,
                       reloc,
                       photoThresh,
                       initConfidenceGlobal,
                       initConfidenceObject,
                       depthCut,
                       icpThresh,
                       fastOdom,
                       fernThresh,
                       so3,
                       frameToFrameRGB,
                       modelSpawnOffset,
                       matchingType,
                       exportDirectory,
                       exportSegmentationResults
                   ));
 
    return cofusion;
}
 
#endif