settings.hpp

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#pragma once

#include <boost/shared_ptr.hpp>
#include <vector>

namespace world_model {

    std::ostream& operator<<(std::ostream &strm, const std::vector<std::pair<std::string, std::string>> &objects_to_sample);

    struct Settings {
    public:
        //Sampling additional object poses for recognition result to consider pose uncertainty
        bool enable_object_sampling;
        bool calculate_deviations;
        int deviation_number_of_samples_position;
        int deviation_number_of_samples_orientation;
        std::vector<std::pair<std::string, std::string>> objects_to_sample;

        //Threshold Vars (Determines the maximum distance between two poses to be considered a neighbor)
        double object_position_distance_threshold;
        double object_orientation_rad_distance_threshold;
        double viewport_position_distance_threshold;
        double viewport_orientation_rad_distance_threshold;

        //The minimum number of neighbors that a cluster needs to considered for the best object list
        int object_rating_min_count;

        bool use_default_intermediate_object_weight;
        double default_intermediate_object_weight;

        std::string intermediate_object_weight_file_name;

        bool use_world_description;

        std::string dbfilename;
        double bin_size;
        double maxProjectionAngleDeviation;

        Settings() { }
        virtual ~Settings() { }
    };

    typedef boost::shared_ptr<Settings> SettingsPtr;


    std::ostream& operator<<(std::ostream &strm, const Settings &settings);
    std::ostream& operator<<(std::ostream &strm, const SettingsPtr &settings_ptr);
}