diff options
| -rw-r--r-- | src/feature.h | 4 | ||||
| -rw-r--r-- | src/main.h | 4 |
2 files changed, 4 insertions, 4 deletions
diff --git a/src/feature.h b/src/feature.h index ca6944b..c78c4a8 100644 --- a/src/feature.h +++ b/src/feature.h @@ -7,7 +7,7 @@ #include "camera.h" #include "types.h" -#define FEATURE_NOISE 2.0 /* Feature process noise */ +#define FEATURE_NOISE 3.5 /* Feature process noise */ #define VIEW_NOISE 6e-3 /* */ #define INITIAL_VIEW_NOISE 1e-3 /* */ #define REFLECTION_VIEW_NOISE 6e-3 /* */ @@ -17,7 +17,7 @@ #define FEATURECOVRHO_MONO 0.5 /* */ #define RHO_0 1./10. /* */ #define RANSAC_LI_THRESHOLD 4e-6 /* */ -#define RANSAC_HI_THRESHOLD 1e-2 /* */ +#define RANSAC_HI_THRESHOLD 5e-2 /* */ #define INITDEPTH using cv::Mat; @@ -43,8 +43,8 @@ //#define ACCBIASZ -1*-0.00709229 //#define CANOECENTER 0.82 /* center of gravity of canoe */ -#define CANOECENTER 0.65 /* center of gravity of canoe */ -#define CANOEHEIGHT -0.50 +#define CANOECENTER 0.62 /* center of gravity of canoe */ +#define CANOEHEIGHT -0.46 //#define CANOEHEIGHT -0.75 #define DOWNSAMPLE 1 /* */ #define HEIGHT_FROM_ATTITUDE /* use the attitude to measure the height */ |