warp source and reflection patches

1 files changed, 6 insertions, 2 deletions

diff --git a/src/feature.h b/src/feature.h
index 1c0718d..65850af 100644
--- a/src/feature.h
+++ b/src/feature.h
@@ -3,14 +3,16 @@
 #include <cv.h>
 #include <Eigen/Dense>
 #include <iostream>
+
+#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 FEATURECOVX .01            /*  */
-#define FEATURECOVY .01           /*  */
+#define FEATURECOVX .001            /*  */
+#define FEATURECOVY .001           /*  */
 #define FEATURECOVRHO 25e-4            /*  */
 #define FEATURECOVRHO_MONO 0.5            /*  */
 #define RHO_0 1./10.            /*  */
@@ -51,6 +53,8 @@ class Feature
         Vector3d asVector();
         UTM utm(Vector3d &xbw, Quaterniond &q); 
         Mat patch();
+        Mat warpedPatch(const Camera &cam, const Quaterniond &q1);
+        Mat reflectedPatch(const Camera &cam, const Quaterniond &q1);
 
         /* ====================  MUTATORS      ======================================= */
         void asVector(const Vector3d &m);