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