TOML-based configuration

[mihaibujanca]

We want to move away from the parameter manager type reading and use TOML to configure SLAMBench.

This will require creating a class or struct (e.g called GlobalConfiguration or similar) to replicate the same structure the config files might have. To get started on this issue, the current pipeline is roughly

• main()
• SLAMBenchConfiguration constructor (parameters are added here!)
• config->GetParameterManager().ReadArgumentsOrQuit(argc, argv, config); //benchmark_loader and pangolin_loader
• ParameterManager::ReadArguments //ParameterManager.cpp

Special care to be taken of the callbacks created in SLAMBenchConfiguration. When parsing the TOML file for algorithms, make sure to call Library_callback. Similarly, check any other callbacks associated with other components or actions (e.g datasets)

[mihaibujanca]

Questions to be answered:

1. What is the appropriate structure? Perhaps something along the lines of

   datasets = ["path/to/dataset","path/to/dataset2"]
   algorithms = ["path/to/algorithm.so", "path/to/algorithm2.so"]
   metrics = [metric1,metric2] # metrics required 
   [algorithm-name]
   # algorithm settings, hyperparameters etc (e.g vocabulary path for orb-slam2) 
   param1 = "value"
   param2 = "value2"

2. How do we share the access to the global configuration between the algorithms and the core of the framework? This could either be done by adding the GlobalConfiguration as a public member variable in SLAMBenchConfig since that is shared with the algorithms or there could be a singleton with global access.