diff options
Diffstat (limited to 'src/feature.h')
| -rw-r--r-- | src/feature.h | 8 |
1 files changed, 6 insertions, 2 deletions
diff --git a/src/feature.h b/src/feature.h index 1c0718d..65850af 100644 --- a/src/feature.h +++ b/src/feature.h @@ -3,14 +3,16 @@ #include <cv.h> #include <Eigen/Dense> #include <iostream> + +#include "camera.h" #include "types.h" #define FEATURE_NOISE 1e-3 /* Feature process noise */ #define VIEW_NOISE 5e-2 /* */ #define INITIAL_VIEW_NOISE 1e-1 /* */ #define REFLECTION_VIEW_NOISE 5e-2 /* */ -#define FEATURECOVX .01 /* */ -#define FEATURECOVY .01 /* */ +#define FEATURECOVX .001 /* */ +#define FEATURECOVY .001 /* */ #define FEATURECOVRHO 25e-4 /* */ #define FEATURECOVRHO_MONO 0.5 /* */ #define RHO_0 1./10. /* */ @@ -51,6 +53,8 @@ class Feature Vector3d asVector(); UTM utm(Vector3d &xbw, Quaterniond &q); Mat patch(); + Mat warpedPatch(const Camera &cam, const Quaterniond &q1); + Mat reflectedPatch(const Camera &cam, const Quaterniond &q1); /* ==================== MUTATORS ======================================= */ void asVector(const Vector3d &m); |