From 997967da8e01216b3c655613d875af30fdf2d0c8 Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Mon, 3 Apr 2017 09:51:19 -0500
Subject: changes

---
 src/feature.cpp | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

(limited to 'src/feature.cpp')

diff --git a/src/feature.cpp b/src/feature.cpp
index caa56f0..a75fdf0 100644
--- a/src/feature.cpp
+++ b/src/feature.cpp
@@ -54,6 +54,8 @@ Feature::Feature ( int id, const Vector3d &xs, const Vector3d &xbw,
     pib[1] = xib[2];
     pib[2] = RHO_0;
 
+    X = pib;
+
     X0 = X;
     xb0w = xbw;
     q0 = q;
@@ -531,11 +533,11 @@ Feature::P0 ( measurement_type t )
     double p0 = FEATURECOVX;
     double p1 = FEATURECOVY;
     double p2; 
-    if (t==REFLECTION) {
+#ifdef INITDEPTH
         p2 = FEATURECOVRHO; 
-    } else {
+#else
         p2 = FEATURECOVRHO_MONO;
-    }
+#endif
     P << p0, 0., 0., 
          0., p1, 0.,
          0., 0., p2;
-- 
cgit v1.1