From 4e5d070d9fe6ec5b439af0fc37d3ec9ef2873302 Mon Sep 17 00:00:00 2001
From: Vladyslav Usenko <usenko.vladyslav@gmail.com>
Date: Sat, 4 Dec 2021 20:40:15 +0100
Subject: [PATCH] Added use_double switch to rs_t265_vio

---
 src/rs_t265_vio.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/src/rs_t265_vio.cpp b/src/rs_t265_vio.cpp
index 8c1d3d9..e4a6c0b 100644
--- a/src/rs_t265_vio.cpp
+++ b/src/rs_t265_vio.cpp
@@ -123,6 +123,7 @@ int main(int argc, char** argv) {
   std::string cam_calib_path;
   std::string config_path;
   int num_threads = 0;
+  bool use_double = false;
 
   CLI::App app{"RealSense T265 Live Vio"};
 
@@ -137,6 +138,7 @@ int main(int argc, char** argv) {
   app.add_option("--config-path", config_path, "Path to config file.");
   app.add_option("--num-threads", num_threads, "Number of threads.");
   app.add_option("--step-by-step", step_by_step, "Path to config file.");
+  app.add_option("--use-double", use_double, "Use double not float.");
 
   try {
     app.parse(argc, argv);
@@ -173,7 +175,7 @@ int main(int argc, char** argv) {
   t265_device->image_data_queue = &opt_flow_ptr->input_queue;
 
   vio = basalt::VioEstimatorFactory::getVioEstimator(
-      vio_config, calib, basalt::constants::g, true, true);
+      vio_config, calib, basalt::constants::g, true, use_double);
   vio->initialize(Eigen::Vector3d::Zero(), Eigen::Vector3d::Zero());
   t265_device->imu_data_queue = &vio->imu_data_queue;