StrColParams.h

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/*
 * Copyright (c) 2013, Fraunhofer FKIE
 *
 * Authors: Bastian Gaspers
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * * Redistributions of source code must retain the above copyright
 *   notice, this list of conditions and the following disclaimer.
 * * Redistributions in binary form must reproduce the above copyright
 *   notice, this list of conditions and the following disclaimer in the
 *   documentation and/or other materials provided with the distribution.
 * * Neither the name of the Fraunhofer FKIE nor the names of its
 *   contributors may be used to endorse or promote products derived from
 *   this software without specific prior written permission.
 *
 * This file is part of the StructureColoring ROS package.
 *
 * The StructureColoring ROS package is free software:
 * you can redistribute it and/or modify it under the terms of the
 * GNU Lesser General Public License as published by the Free
 * Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * The StructureColoring ROS package is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public License
 * along with The StructureColoring ROS package.
 * If not, see <http://www.gnu.org/licenses/>.
 */

#ifndef STRCOLPARAMS_H_
#define STRCOLPARAMS_H_

#include <string>

class StrColParams {
public:
        StrColParams();
        virtual ~StrColParams();

        void parseParamFile(std::string filename);

private:
        void init();

public:
//params for computation of segmentation
        float mTexelSizeFactor;
        unsigned int mDilateIterations;
        unsigned int mPhi_resolution; //number of steps from 0 to PI
        float mMaxSACDistanceThreshold;
        float mMinSACDistanceThreshold;
        float mSACOctreeFactor;
        float mMaxHTDistanceThreshold;
        float mHTOctreeBinSizeFactor;
        float mHTDistanceDeviationFactor;
        float mAngleEps; //angle epsilon in radians - angle between one gridcellnormal and planenormal may differ no more than angle epsilon
        float mAngleEpsOnMinOctreeRes;
        float mSACOutlierRatioThreshold;
        unsigned int mMinPointsInCC; //min number of points in a connected component
        unsigned int mMinNodesInCC;
        unsigned int mMinNodesInCylinder;
        float mMergePlanesSimilarityFactor;
        float mNodeToBBDistance;
        int mDebugSteps;
        int mConnectionNeighbors;
        float mRho_max;
        int mMinPointsForNormal;
        float mCurvThreshold;
        float mCurv2Threshold;
        float mPrincipalVarFactor;
        unsigned int mMinOctreeNodes;
        unsigned int mTriesOnEachDepth;
        float mMinOctreeResolution;
        float mSqDistFactor;
        float mNodeSegmentedRatio;

//params for cylinders only
        float mNormalDistanceWeight;
        float mMinRadiusFactor;
        float mMaxRadiusFactor;
        float mMinCylinderRadius;
        float mMaxCylinderRadius;
        unsigned int mCylinderBins;
        unsigned int mCylinderPairNeighbors;
        float mMidPointBinSizeFactor;
        float mRadiusDevFactor;
        float mOccupiedRatio;
        float mCylinderHeightDev;

//params from command line input
        bool mVerbose;
        bool mPGM;
        bool mKinect;
        bool mLaser;
        bool mABW;
        bool mPerceptron;
        bool mTextures;
        bool mCylinder;
        bool mPclSAC;
        bool mNoRansacStep;
        bool mWriteRawPic;
        std::string mRawPicFilename;
        unsigned int mRawPicCounter;
        bool mLoadPCD;
        bool mPCDnoRGB;
        std::string mRuntimeFilename;
        std::string mLaserTopic;
        int mPclSACmaxIter;
        int mOnlyDepth;
        std::string mInputFilename, mOutputFilename, mNormalOutputFilename;

        int mPostProcessing;
};

#endif /* STRCOLPARAMS_H_ */