OdometryOption.h

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// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
#include <string>
#include <vector>
 
namespace cloudViewer {
namespace pipelines {
namespace odometry {
 
class OdometryOption {
public:
    OdometryOption(
            const std::vector<int> &iteration_number_per_pyramid_level =
                    {20, 10,
                     5} /* {smaller image size to original image size} */,
            double max_depth_diff = 0.03,
            double min_depth = 0.0,
            double max_depth = 4.0)
        : iteration_number_per_pyramid_level_(
                  iteration_number_per_pyramid_level),
          max_depth_diff_(max_depth_diff),
          min_depth_(min_depth),
          max_depth_(max_depth) {}
    ~OdometryOption() {}
 
public:
    std::vector<int> iteration_number_per_pyramid_level_;
    double max_depth_diff_;
    double min_depth_;
    double max_depth_;
};
 
}  // namespace odometry
}  // namespace pipelines
}  // namespace cloudViewer