import os
import argparse

# Parse arguments
parser = argparse.ArgumentParser()
parser.add_argument("--dir", type=str, default="/data/2011_09_29/2011_09_29_drive_0071_sync/")
parser.add_argument("--maxIters", type=str, default=20)
parser.add_argument("--loop_threshold", type=float, default=0.11)  # 0.11 is usually safe (for avoiding false loop closure)
parser.add_argument("--color", type=bool, default=True)
args = parser.parse_args()

lidar_dir = os.path.join(args.dir, "velodyne_points", "data")

if args.color:      # color images
    img_dir = os.path.join(args.dir, "image_02", "data")
else:               # black and white images
    img_dir = os.path.join(args.dir, "image_00", "data")
