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Added use_double switch to rs_t265_vio

This commit is contained in:
Vladyslav Usenko 2021-12-04 20:40:15 +01:00
parent 7ffc6277b3
commit 4e5d070d9f
1 changed files with 3 additions and 1 deletions
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4
src/rs_t265_vio.cpp
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@ -123,6 +123,7 @@ int main(int argc, char** argv) {
std::string cam_calib_path; std::string cam_calib_path;
std::string config_path; std::string config_path;
int num_threads = 0; int num_threads = 0;
bool use_double = false;
CLI::App app{"RealSense T265 Live Vio"}; 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("--config-path", config_path, "Path to config file.");
app.add_option("--num-threads", num_threads, "Number of threads."); 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("--step-by-step", step_by_step, "Path to config file.");
app.add_option("--use-double", use_double, "Use double not float.");
try { try {
app.parse(argc, argv); app.parse(argc, argv);
@ -173,7 +175,7 @@ int main(int argc, char** argv) {
t265_device->image_data_queue = &opt_flow_ptr->input_queue; t265_device->image_data_queue = &opt_flow_ptr->input_queue;
vio = basalt::VioEstimatorFactory::getVioEstimator( 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()); vio->initialize(Eigen::Vector3d::Zero(), Eigen::Vector3d::Zero());
t265_device->imu_data_queue = &vio->imu_data_queue; t265_device->imu_data_queue = &vio->imu_data_queue;