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| author | Martin Miller | 2017-04-11 13:52:33 -0500 |
|---|---|---|
| committer | Martin Miller | 2017-04-11 13:52:33 -0500 |
| commit | c391dab73ae27fd178c34aab9b49f3c0039a6c97 (patch) | |
| tree | 80074c5f36fc9f6b5b1201e2f1ee0dae2717a7b7 | |
| parent | b15708f10060d400186764ad420275fe7e54436c (diff) | |
| download | refslam-c391dab73ae27fd178c34aab9b49f3c0039a6c97.zip refslam-c391dab73ae27fd178c34aab9b49f3c0039a6c97.tar.gz | |
feature inlier thresholds
| -rw-r--r-- | src/feature.h | 10 |
1 files changed, 5 insertions, 5 deletions
diff --git a/src/feature.h b/src/feature.h index c0d3ac6..05c268c 100644 --- a/src/feature.h +++ b/src/feature.h @@ -7,16 +7,16 @@ #include "camera.h" #include "types.h" -#define FEATURE_NOISE 1e-3 /* Feature process noise */ -#define VIEW_NOISE 5e-2 /* */ -#define INITIAL_VIEW_NOISE 1e-1 /* */ -#define REFLECTION_VIEW_NOISE 5e-2 /* */ +#define FEATURE_NOISE 1 /* Feature process noise */ +#define VIEW_NOISE 1e-2 /* */ +#define INITIAL_VIEW_NOISE 1e-2 /* */ +#define REFLECTION_VIEW_NOISE 1e-1 /* */ #define FEATURECOVX .001 /* */ #define FEATURECOVY .001 /* */ #define FEATURECOVRHO 25e-4 /* */ #define FEATURECOVRHO_MONO 0.5 /* */ #define RHO_0 1./10. /* */ -#define RANSAC_LI_THRESHOLD 4e-5 /* */ +#define RANSAC_LI_THRESHOLD 4e-6 /* */ #define RANSAC_HI_THRESHOLD 5e-2 /* */ #define INITDEPTH |