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| author | Miller | 2017-07-07 04:34:34 -0500 |
|---|---|---|
| committer | Miller | 2017-07-07 04:34:34 -0500 |
| commit | 8d73fd6f27ff524be88c2a2e06a67e22f47d28b9 (patch) | |
| tree | ad3404d79e3325257b5dd807fbdded472c60d92d /src/feature.cpp | |
| parent | c43500dc7b87fdd852da23f4578c939c5f175a59 (diff) | |
| download | refslam-8d73fd6f27ff524be88c2a2e06a67e22f47d28b9.zip refslam-8d73fd6f27ff524be88c2a2e06a67e22f47d28b9.tar.gz | |
fix param and P0 bugs
Diffstat (limited to 'src/feature.cpp')
| -rw-r--r-- | src/feature.cpp | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/src/feature.cpp b/src/feature.cpp index 95a5366..82ccc63 100644 --- a/src/feature.cpp +++ b/src/feature.cpp @@ -161,9 +161,9 @@ Feature::R ( ) { Matrix<double,6,6> R; R = Matrix<double,6,6>::Identity(); - R.block<2,2>(0,0) *= VIEW_NOISE; - R.block<2,2>(2,2) *= INITIAL_VIEW_NOISE; - R.block<2,2>(4,4) *= REFLECTION_VIEW_NOISE; + R.block<2,2>(0,0) *= view_noise; + R.block<2,2>(2,2) *= initial_view_noise; + R.block<2,2>(4,4) *= reflection_view_noise; return R; } /* ----- end of method Feature::R ----- */ |