From 29ae7e02e2c30921ae296cfd39407670710c3f2e Mon Sep 17 00:00:00 2001 From: Martin Miller Date: Tue, 15 Aug 2017 15:48:51 -0500 Subject: add monocular option to cli --- src/main.cpp | 7 +++++-- src/state.cpp | 2 +- src/types.h | 1 + 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 &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 UVector2d; // A struct for storing measurements. -- cgit v1.1