params for body noise

1 files changed, 12 insertions, 5 deletions

diff --git a/src/main.cpp b/src/main.cpp
index c1d2a27..81b7df7 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -23,7 +23,14 @@
 bool seenutm=false;
 bool seenpva=false;
 bool seencov=false;
-double feature_noise,view_noise,initial_view_noise,reflection_view_noise;
+
+double feature_noise = 3.5;
+double view_noise = 0.0006;
+double initial_view_noise = 0.0001;
+double reflection_view_noise = 0.0006;
+
+double r_height,acc_std,ang_std,acc_bias_std;
+
 using std::cout;
 using std::endl;
 using std::cerr;
@@ -452,10 +459,10 @@ main(int argc, char **argv)
     // 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);
     fclose(pfin);
     // Read sensors from file
     int i=0;