config.hpp

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/*
 * SPDX-FileCopyrightText: 2016-2019 Emanuele Vespa
 * SPDX-FileCopyrightText: 2022 Smart Robotics Lab, Imperial College London, Technical University of Munich
 * SPDX-FileCopyrightText: 2022 Nils Funk
 * SPDX-FileCopyrightText: 2022 Sotiris Papatheodorou
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef SE_CONFIG_HPP
#define SE_CONFIG_HPP
 
#include <se/map/map.hpp>
#include <se/sensor/sensor.hpp>
#include <se/tracker/tracker.hpp>
 
#include "reader_base.hpp"
 
namespace se {
 
struct AppConfig {
    bool enable_ground_truth = false;
 
    bool enable_rendering = true;
 
    bool enable_gui = true;
 
    std::string mesh_path;
 
    std::string slice_path;
 
    std::string structure_path;
 
    int sensor_downsampling_factor = 1;
 
    int tracking_rate = 1;
 
    int integration_rate = 1;
 
    int rendering_rate = 4;
 
    int meshing_rate = 100;
 
    int max_frames = -1;
 
    std::string log_file;
 
    void readYaml(const std::string& filename);
 
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
 
std::ostream& operator<<(std::ostream& os, const AppConfig& c);
 
 
 
template<typename MapT, typename SensorT>
struct Config {
    struct MapT::Config map;
    struct MapT::DataType::Config data;
    struct SensorT::Config sensor;
    TrackerConfig tracker;
    Reader::Config reader;
    AppConfig app;
 
    Config() = default;
 
    Config(const std::string& yaml_file);
 
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
 
template<typename MapT, typename SensorT>
std::ostream& operator<<(std::ostream& os, const Config<MapT, SensorT>& c);
 
} // namespace se
 
#include "impl/config_impl.hpp"
 
#endif // SE_CONFIG_HPP