diff options
Diffstat (limited to 'src/feature.h')
| -rw-r--r-- | src/feature.h | 14 |
1 files changed, 7 insertions, 7 deletions
diff --git a/src/feature.h b/src/feature.h index 05c268c..ca6944b 100644 --- a/src/feature.h +++ b/src/feature.h @@ -7,17 +7,17 @@ #include "camera.h" #include "types.h" -#define FEATURE_NOISE 1 /* Feature process noise */ -#define VIEW_NOISE 1e-2 /* */ -#define INITIAL_VIEW_NOISE 1e-2 /* */ -#define REFLECTION_VIEW_NOISE 1e-1 /* */ -#define FEATURECOVX .001 /* */ -#define FEATURECOVY .001 /* */ +#define FEATURE_NOISE 2.0 /* Feature process noise */ +#define VIEW_NOISE 6e-3 /* */ +#define INITIAL_VIEW_NOISE 1e-3 /* */ +#define REFLECTION_VIEW_NOISE 6e-3 /* */ +#define FEATURECOVX .0001 /* */ +#define FEATURECOVY .0001 /* */ #define FEATURECOVRHO 25e-4 /* */ #define FEATURECOVRHO_MONO 0.5 /* */ #define RHO_0 1./10. /* */ #define RANSAC_LI_THRESHOLD 4e-6 /* */ -#define RANSAC_HI_THRESHOLD 5e-2 /* */ +#define RANSAC_HI_THRESHOLD 1e-2 /* */ #define INITDEPTH using cv::Mat; |