fix params

1 files changed, 5 insertions, 9 deletions

diff --git a/src/main.cpp b/src/main.cpp
index e64c0c8..ebeb818 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -37,7 +37,9 @@ double acc_bias_std = 0.00891;
 double canoecenter = 0.62;
 double canoeheight = -0.46;
 
-double ransac_li_threshold, ransac_hi_threshold,covbias;
+double ransac_li_threshold = 1.8e-6;
+double ransac_hi_threshold = 0.25;
+double covbias 2e-5;
 
 using std::cout;
 using std::endl;
@@ -434,8 +436,8 @@ 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!=2) {
+        fprintf(stderr, "Usage: %s camera\n", argv[0]);
         exit(1);
     }
     State mu;
@@ -465,12 +467,6 @@ main(int argc, char **argv)
 #endif
 #endif     /* -----  not ROS_PUBLISH  ----- */
     // read params file
-    FILE *pfin;
-    pfin = fopen(argv[2], "r");
-    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];