From 29ae7e02e2c30921ae296cfd39407670710c3f2e Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Tue, 15 Aug 2017 15:48:51 -0500
Subject: add monocular option to cli

---
 src/main.cpp | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

(limited to 'src/main.cpp')

diff --git a/src/main.cpp b/src/main.cpp
index edfc107..ce99968 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -52,6 +52,7 @@ double xcorrsrc = 0.9;
 double xcorrref = 0.4;
 
 bool donew=true;
+bool domono=false;
 
 using std::cout;
 using std::endl;
@@ -508,8 +509,10 @@ main(int argc, char **argv)
     if (argc==4) {
         if (!strcmp(argv[3],"false")) {
             donew=false;
-            cout << "setting old process noise" << endl;
-            exit(EXIT_FAILURE);
+            cerr << "setting old process noise" << endl;
+        } else if (!strcmp(argv[3],"mono")) {
+            domono=true;
+            cerr << "setting all measurements to monocular" << endl;
         }
     }
     // Read sensors from file
-- 
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