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| author | Martin Miller | 2017-04-09 15:59:29 -0500 |
|---|---|---|
| committer | Martin Miller | 2017-04-09 15:59:29 -0500 |
| commit | 1a5bbf751ee0e924b514989f859084ebcd733dc6 (patch) | |
| tree | bbcfce931b51be6d5d19411578582e5c8492eccd /src/state.h | |
| parent | a00695161d51b88159c4394ef018696632a90e59 (diff) | |
| download | refslam-1a5bbf751ee0e924b514989f859084ebcd733dc6.zip refslam-1a5bbf751ee0e924b514989f859084ebcd733dc6.tar.gz | |
Full state estimation and vision process are working.
Diffstat (limited to 'src/state.h')
| -rw-r--r-- | src/state.h | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/src/state.h b/src/state.h index 08d71ee..3ec5f10 100644 --- a/src/state.h +++ b/src/state.h @@ -11,8 +11,8 @@ #include "types.h" #include "vision.h" -#define MAXFEATURES 40 -#define MINFEATURES 20 +#define MAXFEATURES 70 +#define MINFEATURES 30 #define COVBIAS 2e-5 //#define FASTMOTIONMODEL // Uncomment this to perform motion model update on all features at once #define DORANSAC /* */ |