CoFusionParams.h

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#ifndef COFUSIONPARAMS_H
#define COFUSIONPARAMS_H
 
#if USE_MASKFUSION == 1
#include <Core/MaskFusion.h>
#else
#include <Core/CoFusion.h>
#endif
 
namespace armarx
{
 
 
    class CoFusionParams
    {
    public:
        CoFusionParams();
 
#if USE_MASKFUSION == 1
        std::unique_ptr<MaskFusion> makeCoFusion() const;
#else
        std::unique_ptr<CoFusion> makeCoFusion() const;
#endif
 
        int timeDelta = 200;
        int countThresh = 35000;
        float errThresh = 5e-05;
        float covThresh = 1e-05;
        bool closeLoops = true;
        bool iclnuim = false;
        bool reloc = false;
        float photoThresh = 115;
        float initConfidenceGlobal = 4;
        float initConfidenceObject = 2;
        float depthCut = 3;
        float icpThresh = 10;
        bool fastOdom = false;
        float fernThresh = 0.3095;
        bool so3 = true;
        bool frameToFrameRGB = false;
        unsigned modelSpawnOffset = 20;
        Model::MatchingType matchingType = Model::MatchingType::Drost;
        //Segmentation::Method segmentationMethod = Segmentation::Method::SUPERPIXEL_CRF;
        std::string exportDirectory = "";
        bool exportSegmentationResults = false;
 
        int width;
        int height;
        float fx;
        float fy;
        float cx;
        float cy;
 
#if USE_MASKFUSION == 1
 
        Segmentation::Method segmentationMethod = Segmentation::Method::MASK_FUSION;
 
        bool usePrecomputedMasksOnly = false;
        int frameQueueSize = -1;
        int deviceMaskRCNN = -1;
 
#endif
    };
 
} // namespace armarx
 
#endif // COFUSIONPARAMS_H