ConfigParams.h

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// Copyright 2016 Sensics, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//        http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef INCLUDED_ConfigParams_h_GUID_22101CEF_879B_4781_2733_F5F7AE4E3633
#define INCLUDED_ConfigParams_h_GUID_22101CEF_879B_4781_2733_F5F7AE4E3633

// Internal Includes
#include "BlobParams.h"

// Library/third-party includes
// - none

// Standard includes
#include <cstdint>
#include <string>

namespace osvr {
namespace vbtracker {

    static const double BaseMeasurementVariance = 3.0;

    struct IMUInputParams {
        std::string path =
            "/com_osvr_Multiserver/OSVRHackerDevKit0/semantic/hmd";

        bool calibrateAnyway = false;

        bool useOrientation = true;

        double orientationVariance = 1.0e-7;

        std::int32_t orientationMicrosecondsOffset = 0;

        bool useAngularVelocity = true;

        double angularVelocityVariance = 1.0e-1;

        std::int32_t angularVelocityMicrosecondsOffset = 0;
    };

    struct TuningParams {
        TuningParams();
        double noveltyPenaltyBase;

        double distanceMeasVarianceBase;
        double distanceMeasVarianceIntercept;
    };

    enum class BuiltInTargetSets { HDK1xChassis, HDK2Chassis };

    struct ConfigParams {
        bool performingOptimization = false;

        bool silent = false;

        bool logRawBlobs = false;

        bool logUsableLeds = false;

        TuningParams tuning;

        BlobParams blobParams;

        EdgeHoleParams extractParams;

        BuiltInTargetSets targetSet = BuiltInTargetSets::HDK1xChassis;

        bool continuousReporting = true;

        bool highGain = true;

        double additionalPrediction = 0.;

        double maxResidual = 0.03631354168383816;

        double initialBeaconError = 1e-7; // 0.001;

        double blobMoveThreshold = 3.5;

        bool debug = false;

        int numThreads = 1;

        double processNoiseAutocorrelation[6];

        double linearVelocityDecayCoefficient = 0.9040551503451977;

        double angularVelocityDecayCoefficient = 0.8945437897688864;

        double noBeaconLinearVelocityDecayCoefficient = 0.005878868009089861;

        double measurementVarianceScaleFactor = 1.5;

        bool offsetToCentroid = false;

        double manualBeaconOffset[3];

        bool includeRearPanel = true;

        double headCircumference = 55.75;

        double headToFrontBeaconOriginDistance = 0;

        double backPanelMeasurementError = BaseMeasurementVariance;

        double beaconProcessNoise = 1.e-19;

        double highResidualVariancePenalty = 7.513691210865344;

        bool streamBeaconDebugInfo = false;

        float boundingBoxFilterRatio = 5.f / 4.f;

        double maxZComponent = -0.3;

        bool shouldSkipBrightLeds = false;

        double brightLedVariancePenalty = 28.32749811268542;

        bool blobsKeepIdentity = false;

        bool extraVerbose = false;

        std::string calibrationFile = "";

        IMUInputParams imu;

        double cameraPosition[3];

        bool cameraIsForward = true;

        bool permitKalman = true;

        std::int32_t cameraMicrosecondsOffset = -27000;

        bool softResets = false;

        double softResetPositionVarianceScale = 1.e-1;

        double softResetOrientationVariance = 1.e0;

        ConfigParams();
    };
} // namespace vbtracker
} // namespace osvr
#endif // INCLUDED_ConfigParams_h_GUID_22101CEF_879B_4781_2733_F5F7AE4E3633