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 "reader.hpp"
#include "se/map/map.hpp"
#include "se/sensor/sensor.hpp"
#include "se/tracker/tracker.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 DataConfigT, typename SensorConfigT>
struct Config {
    MapConfig map;
    DataConfigT data;
    SensorConfigT sensor;
    TrackerConfig tracker;
    ReaderConfig reader;
    AppConfig app;

    Config();

    Config(const std::string& yaml_file);

    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};



template<typename DataConfigT, typename SensorConfigT>
std::ostream& operator<<(std::ostream& os, const Config<DataConfigT, SensorConfigT>& c);



} // namespace se

#include "impl/config_impl.hpp"

#endif // SE_CONFIG_HPP