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| author | Miller | 2017-07-13 10:22:50 -0500 |
|---|---|---|
| committer | Miller | 2017-07-13 10:22:50 -0500 |
| commit | b3a463492c01fb8d10a1659e26b9050b88468686 (patch) | |
| tree | 5cd8598346670e6c9e20c42433949c3644c6de51 | |
| parent | 2691d41ef5e547fb8f77583b018e4712a19a08d0 (diff) | |
| download | refslam-b3a463492c01fb8d10a1659e26b9050b88468686.zip refslam-b3a463492c01fb8d10a1659e26b9050b88468686.tar.gz | |
cli params for xcorr
| -rw-r--r-- | src/main.cpp | 5 | ||||
| -rw-r--r-- | src/types.h | 3 | ||||
| -rw-r--r-- | 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) { |