Program Listing for File settings.cpp

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#include "util/settings.h"
#include <opencv2/opencv.hpp>
#include <boost/bind.hpp>



namespace lsd_slam
{
RunningStats runningStats;


// dyn config
bool printPropagationStatistics = true;
bool printFillHolesStatistics = true;
bool printObserveStatistics = true;
bool printObservePurgeStatistics = true;
bool printRegularizeStatistics = true;
bool printLineStereoStatistics = true;
bool printLineStereoFails = true;

bool printTrackingIterationInfo = true;

bool printFrameBuildDebugInfo = true;
bool printMemoryDebugInfo = true;

bool printKeyframeSelectionInfo = true;
bool printConstraintSearchInfo = true;
bool printOptimizationInfo = true;
bool printRelocalizationInfo = true;

bool printThreadingInfo = true;
bool printMappingTiming = true;
bool printOverallTiming = true;

bool plotTrackingIterationInfo = false;
bool plotSim3TrackingIterationInfo = false;
bool plotStereoImages = false;
bool plotTracking = false;

float KFUsageWeight = 4;
float KFDistWeight = 3;

float minUseGrad = 5;
float cameraPixelNoise2 = 4*4;
float depthSmoothingFactor = 1;

bool allowNegativeIdepths = true;
bool useMotionModel = false;
bool useSubpixelStereo = true;
bool multiThreading = true;
bool useAffineLightningEstimation = false;



bool useFabMap = false;
bool doSlam = true;
bool doKFReActivation = true;
bool doMapping = true;

int maxLoopClosureCandidates = 10;
int maxOptimizationIterations = 100;
int propagateKeyFrameDepthCount = 0;
float loopclosureStrictness = 1.5;
float relocalizationTH = 0.7;


bool saveKeyframes =  false;
bool saveAllTracked =  false;
bool saveLoopClosureImages =  false;
bool saveAllTrackingStages = false;
bool saveAllTrackingStagesInternal = false;


bool fullResetRequested = false;
bool manualTrackingLossIndicated = false;


std::string packagePath = "";

}