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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/types.h | |
| parent | a00695161d51b88159c4394ef018696632a90e59 (diff) | |
| download | refslam-1a5bbf751ee0e924b514989f859084ebcd733dc6.zip refslam-1a5bbf751ee0e924b514989f859084ebcd733dc6.tar.gz | |
Full state estimation and vision process are working.
Diffstat (limited to 'src/types.h')
| -rw-r--r-- | src/types.h | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/src/types.h b/src/types.h index 955e3bf..ac28f6f 100644 --- a/src/types.h +++ b/src/types.h @@ -6,8 +6,8 @@ #include <exception> #define MAXLINE 8192 #define MAXFILENAME 1024 -#define STATESIZE 9 /* Set to 13 for quaternion estimation, or 9 for quaternion as input */ -#define INLIER_THRESHOLD 12. +#define STATESIZE 13 /* Set to 13 for quaternion estimation, or 9 for quaternion as input */ +#define INLIER_THRESHOLD 24. #define PATCHSIZE 51 /* must be odd */ using Eigen::Matrix; using Eigen::Matrix3d; |