Merge remote-tracking branch 'origin/732017' into 732017

1 files changed, 18 insertions, 2 deletions

diff --git a/src/main.cpp b/src/main.cpp
index 08b56ff..b72c0f1 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -436,8 +436,8 @@ update_dt(const timestamp t, timestamp *t_old)
 int 
 main(int argc, char **argv)
 {
-    if (argc!=2) {
-        fprintf(stderr, "Usage: %s camera\n", argv[0]);
+    if (argc!=3) {
+        fprintf(stderr, "Usage: %s camera params\n", argv[0]);
         exit(1);
     }
     State mu;
@@ -467,6 +467,22 @@ main(int argc, char **argv)
 #endif
 #endif     /* -----  not ROS_PUBLISH  ----- */
     // read params file
+    FILE *pfin;
+    pfin = fopen(argv[2], "r");
+    fscanf(pfin,"%lf",&feature_noise);
+    fscanf(pfin,"%lf",&view_noise);
+    fscanf(pfin,"%lf",&initial_view_noise);
+    fscanf(pfin,"%lf",&reflection_view_noise);
+    fscanf(pfin,"%lf",&r_height);
+    fscanf(pfin,"%lf",&acc_std);
+    fscanf(pfin,"%lf",&ang_std);
+    fscanf(pfin,"%lf",&acc_bias_std);
+    fscanf(pfin,"%lf",&canoecenter);
+    fscanf(pfin,"%lf",&canoeheight);
+    fscanf(pfin,"%lf",&ransac_li_threshold);
+    fscanf(pfin,"%lf",&ransac_hi_threshold);
+    fscanf(pfin,"%lf",&covbias);
+    fclose(pfin);
     // Read sensors from file
     int i=0;
     char line[MAXLINE];