add monocular option to cli

1 files changed, 5 insertions, 2 deletions

diff --git a/src/main.cpp b/src/main.cpp
index edfc107..ce99968 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -52,6 +52,7 @@ double xcorrsrc = 0.9;
 double xcorrref = 0.4;
 
 bool donew=true;
+bool domono=false;
 
 using std::cout;
 using std::endl;
@@ -508,8 +509,10 @@ main(int argc, char **argv)
     if (argc==4) {
         if (!strcmp(argv[3],"false")) {
             donew=false;
-            cout << "setting old process noise" << endl;
-            exit(EXIT_FAILURE);
+            cerr << "setting old process noise" << endl;
+        } else if (!strcmp(argv[3],"mono")) {
+            domono=true;
+            cerr << "setting all measurements to monocular" << endl;
         }
     }
     // Read sensors from file