%     NeuroSLAM System Copyright (C) 2018-2019 
%     NeuroSLAM: A Brain inspired SLAM System for 3D Environments
%
%     Fangwen Yu (www.yufangwen.com), Jianga Shang, Youjian Hu, Michael Milford(www.michaelmilford.com) 
%
%     The NeuroSLAM V1.0 (MATLAB) was developed based on the OpenRatSLAM (David et al. 2013). 
%     The RatSLAM V0.3 (MATLAB) developed by David Ball, Michael Milford and Gordon Wyeth in 2008.
% 
%     Reference:
%     Ball, David, Scott Heath, Janet Wiles, Gordon Wyeth, Peter Corke, and Michael Milford.
%     "OpenRatSLAM: an open source brain-based SLAM system." Autonomous Robots 34, no. 3 (2013): 149-176.
% 
%     This program is free software: you can redistribute it and/or modify
%     it under the terms of the GNU General Public License as published by
%     the Free Software Foundation, either version 3 of the License, or
%     (at your option) any later version.
% 
%     This program is distributed in the hope that it will be useful,
%     but WITHOUT ANY WARRANTY; without even the implied warranty of
%     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
%     GNU General Public License for more details.
% 
%     You should have received a copy of the GNU General Public License
%     along with this program.  If not, see <http://www.gnu.org/licenses/>.

visual_odo_initial( ...
    'ODO_IMG_TRANS_Y_RANGE', 51:150, ...
    'ODO_IMG_TRANS_X_RANGE', 181:300, ...
    'ODO_IMG_HEIGHT_V_Y_RANGE', 51:150, ...
    'ODO_IMG_HEIGHT_V_X_RANGE', 180:300, ...
    'ODO_IMG_YAW_ROT_Y_RANGE', 51:150, ...
    'ODO_IMG_YAW_ROT_X_RANGE', 180:300, ...
    'ODO_IMG_TRANS_RESIZE_RANGE', [100, 120], ...
    'ODO_IMG_YAW_ROT_RESIZE_RANGE', [100, 120], ...
    'ODO_IMG_HEIGHT_V_RESIZE_RANGE', [100, 120], ...
    'ODO_TRANS_V_SCALE', 1, ...
    'ODO_YAW_ROT_V_SCALE', 1, ...
    'ODO_HEIGHT_V_SCALE', 1, ...
    'MAX_TRANS_V_THRESHOLD', 0.02, ...
    'MAX_YAW_ROT_V_THRESHOLD', 10, ...
    'MAX_HEIGHT_V_THRESHOLD', 0.03, ... 
    'ODO_SHIFT_MATCH_HORI', 36, ...
    'ODO_SHIFT_MATCH_VERT', 20, ...
    'FOV_HORI_DEGREE', 90, ...
    'FOV_VERT_DEGREE', 50, ...
    'KEY_POINT_SET', [1644, 1741], ...
    'ODO_STEP', 1);

% global avg;
visual_odo_main('C:\NeuroSLAM_Datasets\01_NeuroSLAM_Datasets\02_SynPanData', ...
    'C:\NeuroSLAM_Datasets\02_NeuroSLAM_Groudtruth\02_SynPanData_GT.txt');

