Begin Vision class.

This class can display measurements and featuers and find new features.
When complete it will also perform measurements.

1 files changed, 4 insertions, 4 deletions

diff --git a/src/feature.h b/src/feature.h
index eaf7349..d5e84b4 100644
--- a/src/feature.h
+++ b/src/feature.h
@@ -5,18 +5,18 @@
 #include "types.h"
 
 #define FEATURE_NOISE  1e-3           /* Feature process noise */
-#define VIEW_NOISE 5e-3             /*  */
+#define VIEW_NOISE 5e-2             /*  */
 #define INITIAL_VIEW_NOISE 1e-1           /*  */
-#define REFLECTION_VIEW_NOISE 5e-3            /*  */
+#define REFLECTION_VIEW_NOISE 5e-2            /*  */
 #define FEATURECOVX .01            /*  */
 #define FEATURECOVY .01           /*  */
 #define FEATURECOVRHO 25e-4            /*  */
 #define FEATURECOVRHO_MONO 0.5            /*  */
 #define RHO_0 1./10.            /*  */
-#define INLIER_THRESHOLD 2.9915            /*  */
+#define INLIER_THRESHOLD 5.9915            /*  */
 #define RANSAC_LI_THRESHOLD 4e-5            /*  */
 #define RANSAC_HI_THRESHOLD 5e-2            /*  */
-//#define INITDEPTH
+#define INITDEPTH
 
 using Eigen::Dynamic;
 using Eigen::Matrix;