1 files changed, 11 insertions, 2 deletions
diff --git a/src/main.cpp b/src/main.cpp
index 57960dd..c1d2a27 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -23,6 +23,7 @@
 bool seenutm=false;
 bool seenpva=false;
 bool seencov=false;
+double feature_noise,view_noise,initial_view_noise,reflection_view_noise;
 using std::cout;
 using std::endl;
 using std::cerr;
@@ -418,8 +419,8 @@ update_dt(const timestamp t, timestamp *t_old)
 int 
 main(int argc, char **argv)
 {
-    if (argc!=2) {
-        fprintf(stderr, "Usage: %s camera\n", argv[0]);
+    if (argc!=3) {
+        fprintf(stderr, "Usage: %s camera params\n", argv[0]);
         exit(1);
     }
     State mu;
@@ -448,6 +449,14 @@ main(int argc, char **argv)
     printf("UTM-Zone,UTM-Ch,UTM-North,UTM-East,Altitude,Vel-X,Vel-Y,Vel-Z,Bias-X,Bias-Y,Bias-Z,Nfeats\n");
 #endif
 #endif     /* -----  not ROS_PUBLISH  ----- */
+    // 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);
+    fclose(pfin);
     // Read sensors from file
     int i=0;
     char line[MAXLINE];