From b3a463492c01fb8d10a1659e26b9050b88468686 Mon Sep 17 00:00:00 2001
From: Miller
Date: Thu, 13 Jul 2017 10:22:50 -0500
Subject: cli params for xcorr

---
 src/main.cpp   | 5 +++++
 src/types.h    | 3 +++
 src/vision.cpp | 6 +++---
 3 files changed, 11 insertions(+), 3 deletions(-)

diff --git a/src/main.cpp b/src/main.cpp
index a6b66bc..f5bcc11 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -48,6 +48,9 @@ double accbiasx = -0.007870;
 double accbiasy = 0.0179085;
 double accbiasz = -0.006310;
 
+double xcorrsrc = 0.9;
+double xcorrref = 0.4;
+
 using std::cout;
 using std::endl;
 using std::cerr;
@@ -486,6 +489,8 @@ main(int argc, char **argv)
     fscanf(pfin,"%lf",&ransac_li_threshold);
     fscanf(pfin,"%lf",&ransac_hi_threshold);
     fscanf(pfin,"%lf",&covbias);
+    fscanf(pfin,"%lf",&xcorrsrc);
+    fscanf(pfin,"%lf",&xcorrref);
     /*
     fscanf(pfin,"%lf",&angbiasx);
     fscanf(pfin,"%lf",&angbiasy);
diff --git a/src/types.h b/src/types.h
index 46f7b7f..19b69cc 100644
--- a/src/types.h
+++ b/src/types.h
@@ -40,6 +40,9 @@ extern double accbiasx;
 extern double accbiasy;
 extern double accbiasz;
 
+extern double xcorrsrc;
+extern double xcorrref;
+
 typedef Eigen::Matrix<double,2,1,Eigen::DontAlign> UVector2d;
 // A struct for storing measurements.
 typedef enum {BOTH,REFLECTION,MONO,HEIGHT} measurement_type;
diff --git a/src/vision.cpp b/src/vision.cpp
index 148f643..0f2b4f9 100644
--- a/src/vision.cpp
+++ b/src/vision.cpp
@@ -17,7 +17,7 @@
  * =====================================================================================
  */
 #include "vision.h"
-
+#include "types.h"
 
 /*
  *--------------------------------------------------------------------------------------
@@ -202,7 +202,7 @@ Vision::measurements ( const Camera &cam, const vector<measurement_t> &zin,
             measure(cam,zins, zouts);
             z.xcorrmax = zouts.xcorrmax;
             z.source = zouts.source;
-            if (z.xcorrmax<0.90) { //downgrade
+            if (z.xcorrmax<xcorrsrc) { //downgrade
                 if (mt==BOTH) {
                     mt=REFLECTION;
                 } else if (mt==MONO) {
@@ -216,7 +216,7 @@ Vision::measurements ( const Camera &cam, const vector<measurement_t> &zin,
             zinr.z_type = REFLECTION;
             measure(cam, zinr, zoutr);
             z.reflection = zoutr.reflection;
-            if (zoutr.xcorrmax<0.4) { //downgrade
+            if (zoutr.xcorrmax<xcorrref) { //downgrade
                 if (mt==BOTH) {
                     mt = MONO;
                 } else if (mt==REFLECTION) {
-- 
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