Add compile time flags.

1 files changed, 9 insertions, 2 deletions

diff --git a/src/state.cpp b/src/state.cpp
index a9a55ae..472ee66 100644
--- a/src/state.cpp
+++ b/src/state.cpp
@@ -290,7 +290,9 @@ State::handle_measurements ( const std::vector<measurement_t> &z, const Quaterni
         } else if (exists(i->id)) {
             Feature *ft;
             ft = featureById(i->id);
+#ifdef INLIERTEST
             if (ft->isInlier(*i, Pxx(), Pxy(i->id), Pyy(i->id), body->ned(), q, INLIER_THRESHOLD)) 
+#endif
             {
                 featuresToUpdate.push_back(*i);
             } 
@@ -319,13 +321,15 @@ State::handle_measurements ( const std::vector<measurement_t> &z, const Quaterni
         }
     }
     if (featuresToUpdate.size()>1) {
+#ifdef  DORANSAC
         ransacUpdate(featuresToUpdate,q);
-    } else if (featuresToUpdate.size()>1) {
+#else      /* -----  not DORANSAC  ----- */
         MatrixXd h;
         h = H(q,featuresToUpdate);
         MatrixXd S;
         S = h*P*h.transpose() + R(featuresToUpdate);
         kalmanUpdate(h,S,featuresToUpdate,q);
+#endif     /* -----  not DORANSAC  ----- */
     }
     addFeatures( featuresToAdd, q, zmeas);
 
@@ -405,8 +409,11 @@ State::addFeatures ( std::vector<measurement_t> &F, const Quaterniond &q, double
         // Create feature
         Feature *f;
         if (i->z_type==REFLECTION) {
+#ifdef  INITDEPTH
             f = new Feature(i->id, i->source, i->reflection, pos, q, z);
-            //f = new Feature(i->id, i->source, pos, q);
+#else      /* -----  not INITDEPTH  ----- */
+            f = new Feature(i->id, i->source, pos, q);
+#endif     /* -----  not INITDEPTH  ----- */
         } else {
             f = new Feature(i->id, i->source, pos, q);
         }