diff options
Diffstat (limited to 'src/types.h')
| -rw-r--r-- | src/types.h | 5 |
1 files changed, 4 insertions, 1 deletions
diff --git a/src/types.h b/src/types.h index 8b0e8a2..d3aeb01 100644 --- a/src/types.h +++ b/src/types.h @@ -1,10 +1,12 @@ #ifndef types_INC #define types_INC +#include <cv.h> #include <Eigen/Dense> #define MAXLINE 8192 #define MAXFILENAME 1024 -#define STATESIZE 13 /* Set to 13 for quaternion estimation, or 9 for quaternion as input */ +#define STATESIZE 9 /* Set to 13 for quaternion estimation, or 9 for quaternion as input */ +#define INLIER_THRESHOLD 12. using Eigen::Matrix; using Eigen::Matrix3d; using Eigen::Quaterniond; @@ -20,6 +22,7 @@ typedef struct { Vector3d source, reflection; double height; Vector2d Ssrc, Sref; + cv::Mat patch; } measurement_t; // A struct for storing PVA covariance. |