diff options
Diffstat (limited to 'src/state.cpp')
| -rw-r--r-- | src/state.cpp | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/src/state.cpp b/src/state.cpp index cbf0e15..8b1ff3f 100644 --- a/src/state.cpp +++ b/src/state.cpp @@ -21,7 +21,7 @@ State::State ( ) { body = new Body; P = Matrix<double,Dynamic,Dynamic>::Zero(STATESIZE,STATESIZE); - P.block<3,3>(6,6) = COVBIAS*Matrix3d::Identity(); + P.block<3,3>(6,6) = covbias*Matrix3d::Identity(); return ; } /* ----- end of method State::State ----- */ @@ -988,7 +988,7 @@ State::ransacUpdate ( vector<measurement_t> &z, const Quaterniond &q ) } if (!found) { Feature *ft = featureById(i->id); - if (ft->isInlier(*i, Pxx(), Pxy(i->id), Pyy(i->id), body->ned(), q, RANSAC_HI_THRESHOLD)) { + if (ft->isInlier(*i, Pxx(), Pxy(i->id), Pyy(i->id), body->ned(), q, ransac_hi_threshold)) { hi_inliers.push_back(*i); } else { removeFeature(i->id, true); |