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CID-SIMS support (#1676)

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* cid-sims dataset support

* Added cli tool to test CID-SIMS dataset

* removed debug log
This commit is contained in:
matlabbe
2026-03-28 14:33:26 -07:00
committed by GitHub
parent 5b985f69be
commit f94a963463
13 changed files with 1115 additions and 301 deletions
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corelib/src/IMUThread.cpp
+14 -3
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@@ -135,8 +135,20 @@ void IMUThread::mainLoop()
std::stringstream stream(line);
std::string s;
std::getline(stream, s, ',');
std::string nanoseconds = s.substr(s.size() - 9, 9);
std::string seconds = s.substr(0, s.size() - 9);
double stamp = 0.0;
if(s.find('.') != std::string::npos)
{
// Normal [epoch] timestamp
stamp = uStr2Double(s);
}
else
{
// Assume EuRoC format
std::string nanoseconds = s.substr(s.size() - 9, 9);
std::string seconds = s.substr(0, s.size() - 9);
stamp = double(uStr2Int(seconds)) + double(uStr2Int(nanoseconds))*1e-9;
}
cv::Vec3d gyr;
for (int j = 0; j < 3; ++j) {
@@ -150,7 +162,6 @@ void IMUThread::mainLoop()
acc[j] = uStr2Double(s);
}
double stamp = double(uStr2Int(seconds)) + double(uStr2Int(nanoseconds))*1e-9;
if(previousStamp_>0 && stamp > previousStamp_)
{
captureDelay_ = stamp - previousStamp_;