10pct mean error

1 files changed, 7 insertions, 7 deletions

diff --git a/src/feature.h b/src/feature.h
index 05c268c..ca6944b 100644
--- a/src/feature.h
+++ b/src/feature.h
@@ -7,17 +7,17 @@
 #include "camera.h"
 #include "types.h"
 
-#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 FEATURE_NOISE  2.0           /* Feature process noise */
+#define VIEW_NOISE 6e-3             /*  */
+#define INITIAL_VIEW_NOISE 1e-3           /*  */
+#define REFLECTION_VIEW_NOISE 6e-3            /*  */
+#define FEATURECOVX .0001            /*  */
+#define FEATURECOVY .0001           /*  */
 #define FEATURECOVRHO 25e-4            /*  */
 #define FEATURECOVRHO_MONO 0.5            /*  */
 #define RHO_0 1./10.            /*  */
 #define RANSAC_LI_THRESHOLD 4e-6            /*  */
-#define RANSAC_HI_THRESHOLD 5e-2            /*  */
+#define RANSAC_HI_THRESHOLD 1e-2            /*  */
 #define INITDEPTH
 
 using cv::Mat;