Update Feature class to use FULLSTATE.

The Jacobian of the measurement model, Hx and Hy were updated using code
generated with matlab's ccode() function. This generates a number of
intermediate values, which are an optimization by the function's
description, before setting the final values. In any case, it's not
necessarily more readable, but it does eliminate the incredbily long
lines used previously.

1 files changed, 1 insertions, 0 deletions

diff --git a/src/feature.h b/src/feature.h
index 6260d71..56e0835 100644
--- a/src/feature.h
+++ b/src/feature.h
@@ -17,6 +17,7 @@
 #define RANSAC_LI_THRESHOLD 4e-5            /*  */
 #define RANSAC_HI_THRESHOLD 5e-2            /*  */
 #define INITDEPTH
+#define FULLSTATE
 
 
 using Eigen::Dynamic;