add monocular option to cli

3 files changed, 7 insertions, 3 deletions

diff --git a/src/main.cpp b/src/main.cpp
index edfc107..ce99968 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -52,6 +52,7 @@ double xcorrsrc = 0.9;
 double xcorrref = 0.4;
 
 bool donew=true;
+bool domono=false;
 
 using std::cout;
 using std::endl;
@@ -508,8 +509,10 @@ main(int argc, char **argv)
     if (argc==4) {
         if (!strcmp(argv[3],"false")) {
             donew=false;
-            cout << "setting old process noise" << endl;
-            exit(EXIT_FAILURE);
+            cerr << "setting old process noise" << endl;
+        } else if (!strcmp(argv[3],"mono")) {
+            domono=true;
+            cerr << "setting all measurements to monocular" << endl;
         }
     }
     // Read sensors from file
diff --git a/src/state.cpp b/src/state.cpp
index 80cfc59..b7ac67a 100644
--- a/src/state.cpp
+++ b/src/state.cpp
@@ -1104,7 +1104,7 @@ State::featuresAsMeasurements ( vector<measurement_t> &yk, const Camera &cam,
         z.id = (*i)->id();
         z.source = (*i)->p2x(pbs);
         z.reflection = (*i)->p2x(pbr);
-        z.z_type = BOTH;
+        z.z_type = (domono) ? MONO : BOTH;
         z.patch = (*i)->warpedPatch(cam, q);
         z.refpatch = (*i)->reflectedPatch(cam, q);
 
diff --git a/src/types.h b/src/types.h
index 86d9398..93e8822 100644
--- a/src/types.h
+++ b/src/types.h
@@ -44,6 +44,7 @@ extern double xcorrsrc;
 extern double xcorrref;
 
 extern bool donew;
+extern bool domono;
 
 typedef Eigen::Matrix<double,2,1,Eigen::DontAlign> UVector2d;
 // A struct for storing measurements.