#!bin/bash
tumvi_folder="/home/ivan/ivan/git/work_drivecast2/SLAM/datasets/tum_mono_vi"
mono_kitti_folder="/home/ivan/ivan/git/work_drivecast2/SLAM/datasets/mono-kitti"
basalt_folder="/home/ivan/ivan/git/work_drivecast2/SLAM/basalt"

"$basalt_folder/build/basalt_vio" --dataset-path "$mono_kitti_folder/sequences/06/" --cam-calib "${mono_kitti_folder}/sequences/06/basalt_calib.json" --dataset-type kitti --config-path "$basalt_folder/data/kitti_config.json" --show-gui 1 --use-imu 0 --axes-seq=XYZ --axes-signs=+++ --divide-angles 1.0
# was ZYX. if YZX is wrong, then try XYZ (which is wrong)? or try different signs, like -YZX.