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OPESettings.h
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OPESettings.h
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/*
* Software License Agreement (BSD License)
*
* Object Pose Estimation (OPE) - www.cse.usf.edu/kkduncan
* Copyright (c) 2013, Kester Duncan
*
* All rights reserved.
*
* 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.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* \file OPESettings.h
* \brief Defines the settings object used throughout OPE
* \author Kester Duncan
*/
#pragma once
#ifndef OPE_SETTINGS_H_
#define OPE_SETTINGS_H_
#include "OPECommon.h"
/** \namespace ope
* Namespace where all the Object Pose Estimation functionality resides
*/
namespace ope {
/**
* \brief User-customizable program settings for pose estimation process
*/
struct OPESettings {
/// Minimum depth value for target scene area. Used by the <code>PassThrough</code> filter
float minTgtDepth;
/// Maximum depth value for target scene area
float maxTgtDepth;
/// Minimum height of object hypotheses in the scene
float minObjHeight;
/// Maximum height of object hypotheses in the scene
float maxObjHeight;
/// Maximum voxel size for superquadric fitting
float maxVoxelSize;
/// Minimum voxel size for superquadric fitting
float minVoxelSize;
/// Determines whether status updates are output
bool verbose;
/// Determines the amount of error minimization iterations for superquadric fitting
int minIterations;
/// Determines whether superquadric shape tapering is allowed when estimating pose
bool allowTapering;
/// Object voxel size for downsampling
float objVoxelSize;
/// Show a debugging viewer when point cloud is captured
bool doDebug;
/// Default Constructor
OPE_EXPORT OPESettings();
/// Overloaded assignment operator
OPE_EXPORT OPESettings& operator= (const OPESettings& other);
};
} /* ope */
#endif /* OPE_SETTINGS_H_ */