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| author | Miller | 2017-07-13 10:22:50 -0500 |
|---|---|---|
| committer | Miller | 2017-07-13 10:22:50 -0500 |
| commit | b3a463492c01fb8d10a1659e26b9050b88468686 (patch) | |
| tree | 5cd8598346670e6c9e20c42433949c3644c6de51 /src/vision.cpp | |
| parent | 2691d41ef5e547fb8f77583b018e4712a19a08d0 (diff) | |
| download | refslam-b3a463492c01fb8d10a1659e26b9050b88468686.zip refslam-b3a463492c01fb8d10a1659e26b9050b88468686.tar.gz | |
cli params for xcorr
Diffstat (limited to 'src/vision.cpp')
| -rw-r--r-- | src/vision.cpp | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/src/vision.cpp b/src/vision.cpp index 148f643..0f2b4f9 100644 --- a/src/vision.cpp +++ b/src/vision.cpp @@ -17,7 +17,7 @@ * ===================================================================================== */ #include "vision.h" - +#include "types.h" /* *-------------------------------------------------------------------------------------- @@ -202,7 +202,7 @@ Vision::measurements ( const Camera &cam, const vector<measurement_t> &zin, measure(cam,zins, zouts); z.xcorrmax = zouts.xcorrmax; z.source = zouts.source; - if (z.xcorrmax<0.90) { //downgrade + if (z.xcorrmax<xcorrsrc) { //downgrade if (mt==BOTH) { mt=REFLECTION; } else if (mt==MONO) { @@ -216,7 +216,7 @@ Vision::measurements ( const Camera &cam, const vector<measurement_t> &zin, zinr.z_type = REFLECTION; measure(cam, zinr, zoutr); z.reflection = zoutr.reflection; - if (zoutr.xcorrmax<0.4) { //downgrade + if (zoutr.xcorrmax<xcorrref) { //downgrade if (mt==BOTH) { mt = MONO; } else if (mt==REFLECTION) { |