Add code to perform a guided measurement.

The Vision class can template match in a search region. The search
region result is masked by an ellipse related to the S matrix of the
feature.

1 files changed, 4 insertions, 1 deletions

diff --git a/src/types.h b/src/types.h
index 8b0e8a2..d3aeb01 100644
--- a/src/types.h
+++ b/src/types.h
@@ -1,10 +1,12 @@
 #ifndef  types_INC
 #define  types_INC
 
+#include <cv.h>
 #include <Eigen/Dense>
 #define MAXLINE 8192
 #define MAXFILENAME 1024
-#define STATESIZE 13            /* Set to 13 for quaternion estimation, or 9 for quaternion as input  */
+#define STATESIZE 9            /* Set to 13 for quaternion estimation, or 9 for quaternion as input  */
+#define INLIER_THRESHOLD 12.
 using Eigen::Matrix;
 using Eigen::Matrix3d;
 using Eigen::Quaterniond;
@@ -20,6 +22,7 @@ typedef struct {
     Vector3d source, reflection;
     double height;
     Vector2d Ssrc, Sref;
+    cv::Mat patch;
 } measurement_t;
 
 // A struct for storing PVA covariance.