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| author | Martin Miller | 2017-07-09 17:59:46 -0500 |
|---|---|---|
| committer | Martin Miller | 2017-07-09 17:59:46 -0500 |
| commit | 6cb0797fbdf27e96f7a2b1472637936349d32ec1 (patch) | |
| tree | 9da1471c74141204beb108c7b24ec1401f29b5e5 /src | |
| parent | c7baf5c52d2e840becc2efd3c1c8ffad44c3f88a (diff) | |
| download | refslam-6cb0797fbdf27e96f7a2b1472637936349d32ec1.zip refslam-6cb0797fbdf27e96f7a2b1472637936349d32ec1.tar.gz | |
cli params
Diffstat (limited to 'src')
| -rw-r--r-- | src/main.cpp | 19 | ||||
| -rw-r--r-- | src/types.h | 7 |
2 files changed, 24 insertions, 2 deletions
diff --git a/src/main.cpp b/src/main.cpp index c4b2c4c..fb86f52 100644 --- a/src/main.cpp +++ b/src/main.cpp @@ -41,6 +41,13 @@ double ransac_li_threshold = 1.8e-6; double ransac_hi_threshold = 0.25; double covbias = 2e-5; +double angbiasx; +double angbiasy; +double angbiasz; +double accbiasx; +double accbiasy; +double accbiasz; + using std::cout; using std::endl; using std::cerr; @@ -216,7 +223,7 @@ imuCallback(const message &msg, State &mu, const Quaterniond &q, const timestamp Vector3d acc(msg.linear_acceleration.y,msg.linear_acceleration.x,-msg.linear_acceleration.z); Vector3d ang(msg.angular_velocity.y,msg.angular_velocity.x,-msg.angular_velocity.z); // WARNING: This is the bias for 1112-1 - Vector3d ang_bias(ANGBIASX, ANGBIASY, ANGBIASZ); + Vector3d ang_bias(angbiasx, angbiasy, angbiasz); ang -= ang_bias; double dtf = dt.secs+dt.nsecs*1e-9; @@ -445,7 +452,7 @@ main(int argc, char **argv) attitude_t att; // bias in FRD coordinates Vector3d acc_bias; - acc_bias << ACCBIASX, ACCBIASY, ACCBIASZ; + acc_bias << accbiasx, accbiasy, accbiasz; mu.accelerometer_bias(acc_bias); timestamp dt{0,0}; timestamp t_old{0,0}; @@ -469,6 +476,7 @@ main(int argc, char **argv) // read params file FILE *pfin; pfin = fopen(argv[2], "r"); + /* fscanf(pfin,"%lf",&feature_noise); fscanf(pfin,"%lf",&view_noise); fscanf(pfin,"%lf",&initial_view_noise); @@ -482,6 +490,13 @@ main(int argc, char **argv) fscanf(pfin,"%lf",&ransac_li_threshold); fscanf(pfin,"%lf",&ransac_hi_threshold); fscanf(pfin,"%lf",&covbias); + */ + fscanf(pfin,"%lf",&angbiasx); + fscanf(pfin,"%lf",&angbiasy); + fscanf(pfin,"%lf",&angbiasz); + fscanf(pfin,"%lf",&accbiasx); + fscanf(pfin,"%lf",&accbiasy); + fscanf(pfin,"%lf",&accbiasz); fclose(pfin); // Read sensors from file int i=0; diff --git a/src/types.h b/src/types.h index fac708c..46f7b7f 100644 --- a/src/types.h +++ b/src/types.h @@ -33,6 +33,13 @@ extern double ransac_li_threshold; extern double ransac_hi_threshold; extern double covbias; +extern double angbiasx; +extern double angbiasy; +extern double angbiasz; +extern double accbiasx; +extern double accbiasy; +extern double accbiasz; + typedef Eigen::Matrix<double,2,1,Eigen::DontAlign> UVector2d; // A struct for storing measurements. typedef enum {BOTH,REFLECTION,MONO,HEIGHT} measurement_type; |