Run Kimera on SpecLog #357
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| DEFINE_string(params_folder_path, "../params/Euroc", | ||
| DEFINE_string(params_folder_path, "/home/ekf/software/robot/data/iphoneSpectacularParams", | ||
| "Path to the folder containing the yaml files with the VIO parameters."); | ||
| DEFINE_string(dataset_path, "/Users/Luca/data/MH_01_easy", | ||
| "Path of dataset (i.e. Euroc, /Users/Luca/data/MH_01_easy)."); | ||
| DEFINE_string(dataset_path, "/home/ekf/software/robot/data/Walk-to-work", | ||
| // DEFINE_string(dataset_path, "/home/ekf/software/robot/data/20241212_090634", | ||
| "Path of dataset"); |
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I've been using the cxxopts library to handle argument flags. Up to you if you want to switch to that. Here is an example:
I see that this isn't a cc_test. Is there something that is making it difficult to do that instead? I could imagine it being useful to have a binary to run Kimera on some log.
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Unfortunately cxxopts and google flags don't play well together, we would likely have to add a bandaid or remove all gflags from used kimera components.
Re cc_test vs cc_binary -- I picked cc_binary because I thought it would be useful to have a binary to run on logs. If we change it to a cc_test would we still be able to use it to get vio solutions from different bags?
I can make it a test and make sure the final pose is somewhat reasonable. Where should I put the iphone spectacular params? (this repo, pulled in as a zip, standalone repo?)
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in another pr break out an interface to create and run pipeline on a spec log. Create a test that uses this, and use this interface in the binary as well.
add working script to run kimera vio on a spectacularlog