set ransac thresh and covbias

1 files changed, 8 insertions, 2 deletions

diff --git a/src/main.cpp b/src/main.cpp
index 85ccf55..e64c0c8 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -34,6 +34,11 @@ double acc_std = 0.002835;
 double ang_std = 0.008019;
 double acc_bias_std = 0.00891;
 
+double canoecenter = 0.62;
+double canoeheight = -0.46;
+
+double ransac_li_threshold, ransac_hi_threshold,covbias;
+
 using std::cout;
 using std::endl;
 using std::cerr;
@@ -462,8 +467,9 @@ main(int argc, char **argv)
     // read params file
     FILE *pfin;
     pfin = fopen(argv[2], "r");
-    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;