From 4ad4e12cb2df5ac031eaf759517179a8e0cd87af Mon Sep 17 00:00:00 2001
From: Miller
Date: Tue, 4 Jul 2017 23:34:11 -0500
Subject: set ransac thresh and covbias

---
 src/main.cpp | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

(limited to 'src/main.cpp')

diff --git a/src/main.cpp b/src/main.cpp
index 85ccf55..e64c0c8 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -34,6 +34,11 @@ double acc_std = 0.002835;
 double ang_std = 0.008019;
 double acc_bias_std = 0.00891;
 
+double canoecenter = 0.62;
+double canoeheight = -0.46;
+
+double ransac_li_threshold, ransac_hi_threshold,covbias;
+
 using std::cout;
 using std::endl;
 using std::cerr;
@@ -462,8 +467,9 @@ main(int argc, char **argv)
     // read params file
     FILE *pfin;
     pfin = fopen(argv[2], "r");
-    fscanf(pfin,"%lf",&canoecenter);
-    fscanf(pfin,"%lf",&canoeheight);
+    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;
-- 
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