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| author | Martin Miller | 2017-04-11 10:57:04 -0500 |
|---|---|---|
| committer | Martin Miller | 2017-04-11 10:57:04 -0500 |
| commit | 1c543489862cd0bf9c559cee6575baf20f84b2d0 (patch) | |
| tree | d968bf97d9d6a6bd444fd97b24054f720456c84f /src/state.h | |
| parent | 16972c736994fa49b04d1e967516278660e4be2d (diff) | |
| download | refslam-1c543489862cd0bf9c559cee6575baf20f84b2d0.zip refslam-1c543489862cd0bf9c559cee6575baf20f84b2d0.tar.gz | |
Remove features after 5 timesteps without measurements
Diffstat (limited to 'src/state.h')
| -rw-r--r-- | src/state.h | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/src/state.h b/src/state.h index 3ec5f10..70c73fe 100644 --- a/src/state.h +++ b/src/state.h @@ -11,7 +11,7 @@ #include "types.h" #include "vision.h" -#define MAXFEATURES 70 +#define MAXFEATURES 40 #define MINFEATURES 30 #define COVBIAS 2e-5 //#define FASTMOTIONMODEL // Uncomment this to perform motion model update on all features at once |