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added basalt_time_alignment to deb packages

This commit is contained in:
Vladyslav Usenko 2019-09-20 15:40:44 +02:00
parent 71d94219e0
commit 76966c12d3
3 changed files with 8 additions and 3 deletions
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2
CMakeLists.txt
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@ -265,7 +265,7 @@ endif()
install(TARGETS basalt_calibrate basalt_calibrate_imu basalt_vio_sim basalt_mapper_sim basalt_mapper_sim_naive basalt_mapper basalt_opt_flow basalt_vio basalt_kitti_eval basalt install(TARGETS basalt_calibrate basalt_calibrate_imu basalt_vio_sim basalt_mapper_sim basalt_mapper_sim_naive basalt_mapper basalt_opt_flow basalt_vio basalt_kitti_eval basalt_time_alignment basalt
EXPORT BasaltTargets EXPORT BasaltTargets
RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib

7
src/time_alignment.cpp
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@ -66,6 +66,8 @@ int main(int argc, char **argv) {
std::string output_gyro_path; std::string output_gyro_path;
std::string output_mocap_path; std::string output_mocap_path;
double max_offset_s = 10.0;
bool show_gui = true; bool show_gui = true;
CLI::App app{"Calibrate time offset"}; CLI::App app{"Calibrate time offset"};
@ -89,6 +91,9 @@ int main(int argc, char **argv) {
"--output-mocap", output_mocap_path, "--output-mocap", output_mocap_path,
"Path to output file with mocap rotational velocities for plotting"); "Path to output file with mocap rotational velocities for plotting");
app.add_option("--max-offset", max_offset_s,
"Maximum offset for a grid search in seconds.");
app.add_flag("--show-gui", show_gui, "Show GUI for debugging"); app.add_flag("--show-gui", show_gui, "Show GUI for debugging");
try { try {
@ -208,7 +213,7 @@ int main(int argc, char **argv) {
double best_error = std::numeric_limits<double>::max(); double best_error = std::numeric_limits<double>::max();
int best_error_idx = -1; int best_error_idx = -1;
int64_t max_offset_ns = 10000000000; int64_t max_offset_ns = max_offset_s * 1e9;
int64_t offset_inc_ns = 100000; int64_t offset_inc_ns = 100000;
for (int64_t offset_ns = -max_offset_ns; offset_ns <= max_offset_ns; for (int64_t offset_ns = -max_offset_ns; offset_ns <= max_offset_ns;

2
thirdparty/basalt-headers vendored

@ -1 +1 @@
Subproject commit ad09f793c8cf584f20b453c0a348e520c7e67efd Subproject commit ee71c0172400419853f675d385ee7e06242facaf