process noise flags

1 files changed, 13 insertions, 2 deletions

diff --git a/src/main.cpp b/src/main.cpp
index 04e1910..edfc107 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -51,6 +51,8 @@ double accbiasz = -0.006310;
 double xcorrsrc = 0.9;
 double xcorrref = 0.4;
 
+bool donew=true;
+
 using std::cout;
 using std::endl;
 using std::cerr;
@@ -446,8 +448,8 @@ update_dt(const timestamp t, timestamp *t_old)
 int 
 main(int argc, char **argv)
 {
-    if (argc!=3) {
-        fprintf(stderr, "Usage: %s camera params\n", argv[0]);
+    if (argc<3) {
+        fprintf(stderr, "Usage: %s camera params [donew]\n", argv[0]);
         exit(1);
     }
     State mu;
@@ -501,6 +503,15 @@ main(int argc, char **argv)
     Vector3d acc_bias;
     acc_bias << accbiasx, accbiasy, accbiasz;
     mu.accelerometer_bias(acc_bias);
+
+    // check for donew
+    if (argc==4) {
+        if (!strcmp(argv[3],"false")) {
+            donew=false;
+            cout << "setting old process noise" << endl;
+            exit(EXIT_FAILURE);
+        }
+    }
     // Read sensors from file
     int i=0;
     char line[MAXLINE];