diff options
Diffstat (limited to 'src/feature.cpp')
| -rw-r--r-- | src/feature.cpp | 15 |
1 files changed, 14 insertions, 1 deletions
diff --git a/src/feature.cpp b/src/feature.cpp index 2c5dbb0..4db6a29 100644 --- a/src/feature.cpp +++ b/src/feature.cpp @@ -65,6 +65,19 @@ Feature::Feature ( int id, const Vector3d &xs, const Vector3d &xbw, lastseen = 0; } +void +Feature::reinitialize(const Vector3d &xs, const Vector3d& xr, + const Vector3d &xbw, const Quaterniond &q, Mat &p) +{ + Vector3d xib; + xib = findDepth(q,xbw[2],xs,xr); + X = x2p(xib); + X0 = X; + xb0w = xbw; + q0 = q; + _patch = p; + lastseen = 0; +} /* *-------------------------------------------------------------------------------------- @@ -956,7 +969,7 @@ Feature::P0 ( measurement_type t ) double p0 = FEATURECOVX; double p1 = FEATURECOVY; double p2; - if (t==REFLECTION) { + if (t==BOTH) { #ifdef INITDEPTH p2 = FEATURECOVRHO; #else |