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config_file.m
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config_file.m
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function config_file
global myCONFIG
% persistent extractor
% % % % /home/axtamjidi/SR4000/SR4000/EKF_monoSLAM_1pRANSAC/matlab_code
% % % % /home/axtamjidi/SR4000/eitlog
% % % % /home/axtamjidi/SR4000/SR4000/SR_4000_data/lab13
% /media/FreeAgentGoFlexDrive/SOONHAC/square_1000/KeyFrames
% myCONFIG.PATH.DATA_FOLDER = '/home/axtamjidi/SR4000/eitlog/';
% myCONFIG.PATH.DATA_FOLDER = 'F:\processed_data\Soonhac\DataMeetingAugust1\third_floor_it_150\KeyFrames\'; %% exp2
myCONFIG.PATH.DATA_FOLDER = 'F:\processed_data\Soonhac\second_floor_150_not_square\KeyFrames\';
% 'F:\processed_data\Soonhac\DataMeetingAugust1\third_floor_it_150\KeyFrames\'; %% exp2
% myCONFIG.PATH.DATA_FOLDER = '/home/axtamjidi/SR4000/square/';
myCONFIG.PATH.AVI_OUTPUT = [myCONFIG.PATH.DATA_FOLDER,'/aviOutput/result11.avi'];
myCONFIG.IDX.idxCam = 1;
myCONFIG.STEP.START = 1;
myCONFIG.STEP.END =data_file_counting(myCONFIG.PATH.DATA_FOLDER,'d1');
myCONFIG.FLAGS.GICP_CAM_ID = -1; %%% -1 means whole laser data is fed into GICP
myCONFIG.FLAGS.EST_METHOD = '1PRE'; %%% ( 1PRE = 1Point RANSAC | PURE_EKF = pure ekf. no feature management)
myCONFIG.FLAGS.MOTION_INPUT='RANSAC'; %%% 'GT' == ground truth -- 'RANSAC' == RANSAC
myCONFIG.FLAGS.DO_ANIM = 'no'; %%% yes means create avi file from image sequences
myCONFIG.FLAGS.VERBOSE = 'yes';
myCONFIG.FLAGS.ORIGINAL_DATASET = 1; %% initializing flag for dataset flag if 1 we use ORIGINAL dataset
myCONFIG.FLAGS.MODIFIED_DATASET = 0; %% initializing flag for dataset flag if 1 we use MODIFIED dataset
myCONFIG.FLAGS.DATA_PLAY =0; % if 1 just loads the previously saved data
myCONFIG.FLAGS.CONFIDENCE_MAP = 1; % if 0 it means that confidence data is not available
myCONFIG.FLAGS.INITIAL_ORIENTATION_COMPENSATION =1; %% (if 1 compensate the initial orientation)
myCONFIG.FLAGS.PLOT_RESULTS = 1; %% (if 1 plot the results otherwise no)
myCONFIG.FLAG.FEATURE_INITIALIZATION = 'PICK RANDOM SUBSET'; %% ('PICK RANDOM SUBSET'|'USE ALL FEATURES')
myCONFIG.FLAG.ONLY_PREDICT = 0; %% if equal to 1 only do the prediction otherwise do complete EKF
%%% determines whether to initialze a random subset of features or all
%%% features availabe at each frame
current_path = pwd;
eval(['cd ','''',myCONFIG.PATH.DATA_FOLDER,'''']);
if ~exist('./FeatureExtractionMatching','dir') %% if folder does not already exist make new folder
mkdir FeatureExtractionMatching
end
if ~exist('./images','dir') %% if folder does not already exist make new folder
mkdir images
end
if ~exist('./RANSAC_pose_shift','dir') %% if folder does not already exist make new folder
mkdir RANSAC_pose_shift
end
if ~exist('./RANSAC_pose_shift_dr_Ye','dir') %% if folder does not already exist make new folder
mkdir RANSAC_pose_shift_dr_Ye
end
if ~exist('./xyz_data','dir') %% if folder does not already exist make new folder
mkdir xyz_data
end
if ~exist('./DataSnapshots','dir') %% if folder does not already exist make new folder
mkdir DataSnapshots
end
if ~exist('./FeaturePerformance','dir') %% if folder does not already exist make new folder
mkdir FeaturePerformance
end
if ~exist('./OrientationData','dir') %% if folder does not already exist make new folder
mkdir OrientationData
end
if ~exist('./TimeStamp','dir') %% if folder does not already exist make new folder
mkdir TimeStamp
end
eval(['cd ','''',current_path,'''']);
%% DEBUG UNCOMMENT LATER
% % % % if isempty(extractor)
% % % % extractor =input('What Type of extractor do you want to work with: [ 0 = FAST , 1 = SIFT] : ','s');
% % % % end
% % % % if str2double(extractor) ==0
% % % % disp('FAST extractor is used')
% % % %
% % % % myCONFIG.FLAGS.FEATURE_EXTRACTOR = 'FAST';
% % % % end
% % % %
% % % % if str2double(extractor) ==1
% % % % disp('SIFT extractor is used')
% % % % myCONFIG.FLAGS.FEATURE_EXTRACTOR = 'SIFT';
% % % % end
% % % %
%%
% myCONFIG.FLAGS.FEATURE_EXTRACTOR = 'FAST';
myCONFIG.FLAGS.FEATURE_EXTRACTOR = 'SIFT';
myCONFIG.PATH.RANSAC = [myCONFIG.PATH.DATA_FOLDER,'RANSAC/'];
%%%%
myCONFIG.TMEP_CODE =1;
myCONFIG.REF_COORDINATE = 'cam1';
myCONFIG.FLAGS.OVERWRITE = 1; %% if equal to 1 overwrite the snapshot data files
addpath(genpath(pwd))
myCONFIG.FLAGS.RECALCULATE = 0; %%% if equal to 1 recalculate the results (RANSAC)
% RANSAC_FileName = '/home/amirhossein/Desktop/Current_Work/august 2011/EKF_monoSLAM_1pRANSAC/RANSAC_0_200_mod.mat';
% scan_file_name_prefix ='/home/amirhossein/Desktop/Current_Work/TestAlgorithm/IJRR-Dataset-1-subset/SCANS';
% sequencePath = '/home/amirhossein/Desktop/Current_Work/TestAlgorithm/IJRR-Dataset-1-subset/SCANS';
%% CLEAR PERSISTENT VARIABLES
clear functions
% clear
% clear
% clear
end