Program Listing for File parameters.h

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/*******************************************************
 * Copyright (C) 2019, Robotics Group, Nanyang Technology University
 *
 * \file parameters.h
 * \author Zhang Handuo (hzhang032@e.ntu.edu.sg)
 * \date Januarary 2017
 * \brief Config parameters read from external config files.
 *
 * Licensed under the GNU General Public License v3.0;
 * you may not use this file except in compliance with the License.
 *
 *******************************************************/

#pragma once

#include <ros/ros.h>
#include <vector>
#include <eigen3/Eigen/Dense>
#include "../utility/utility.h"
#include <opencv2/opencv.hpp>
#include <opencv2/core/eigen.hpp>
#include <fstream>
#include <map>

using namespace std;

const double FOCAL_LENGTH = 460.0;
const int WINDOW_SIZE = 10;
const int NUM_OF_F = 1000;
//#define UNIT_SPHERE_ERROR

extern double INIT_DEPTH;
extern double MIN_PARALLAX;
extern int ESTIMATE_EXTRINSIC;

extern double ACC_N, ACC_W;
extern double GYR_N, GYR_W;

extern std::vector<Eigen::Matrix3d> RIC;
extern std::vector<Eigen::Vector3d> TIC;
extern Eigen::Vector3d G;

extern double BIAS_ACC_THRESHOLD;
extern double BIAS_GYR_THRESHOLD;
extern double SOLVER_TIME;
extern int NUM_ITERATIONS;
extern std::string EX_CALIB_RESULT_PATH;
extern std::string RESULT_PATH;
extern std::string OUTPUT_FOLDER;
extern std::string IMU_TOPIC;
extern std::string INS_TOPIC;
extern double TD;
extern int ESTIMATE_TD;
extern int ROLLING_SHUTTER;
extern int ROW, COL;
extern int NUM_OF_CAM;
extern int STEREO;
extern int CUBICLE;
extern int USE_IMU;
extern int USE_INS;
extern int MULTIPLE_THREAD;
extern int ONLINE;
extern int USE_GPS;
extern int USE_GPU;
extern int USE_GPU_ACC_FLOW;
// pts_gt for debug purpose;
extern map<int, Eigen::Vector3d> pts_gt;

extern std::string IMAGE0_TOPIC, IMAGE1_TOPIC, CUBICLE_TOPIC, GPS_TOPIC;
extern std::vector<std::string> CAM_NAMES;
extern int MAX_CNT;
extern int MIN_DIST;
extern double F_THRESHOLD;
extern int SHOW_TRACK;
extern int FLOW_BACK;
extern Eigen::Quaterniond gps_0_q;
extern Eigen::Vector3d gps_0_trans;
extern bool load_gps_info;

void readParameters(const std::string &config_file);


enum SIZE_PARAMETERIZATION {
    SIZE_POSE = 7,
    SIZE_SPEEDBIAS = 9,
    SIZE_FEATURE = 1
};

enum StateOrder {
    O_P = 0,
    O_R = 3,
    O_V = 6,
    O_BA = 9,
    O_BG = 12
};

enum NoiseOrder {
    O_AN = 0,
    O_GN = 3,
    O_AW = 6,
    O_GW = 9
};