From 0c8912c5dc1ec3c752f8648ca2a8181275ba2654 Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Tue, 4 Apr 2017 14:07:24 -0500
Subject: Use STATESIZE for Feature

Replace FULLSTATE define with STATESIZE.
---
 src/feature.h | 26 +++++++-------------------
 1 file changed, 7 insertions(+), 19 deletions(-)

(limited to 'src/feature.h')

diff --git a/src/feature.h b/src/feature.h
index 56e0835..53eef2d 100644
--- a/src/feature.h
+++ b/src/feature.h
@@ -17,8 +17,7 @@
 #define RANSAC_LI_THRESHOLD 4e-5            /*  */
 #define RANSAC_HI_THRESHOLD 5e-2            /*  */
 #define INITDEPTH
-#define FULLSTATE
-
+#define STATESIZE 13            /*  */
 
 using Eigen::Dynamic;
 using Eigen::Matrix;
@@ -59,25 +58,14 @@ class Feature
 
         /* ====================  OPERATORS     ======================================= */
         bool sane();
-#ifdef FULLSTATE
-        bool isInlier(const measurement_t &z, const Matrix<double,13,13> &Pxx,
-                const Matrix<double,13,3> &Pxy, const Matrix<double,3,3> &Pyy,
-                const Vector3d &pos, const Quaterniond &q, double thr);
-        Matrix<double,3,13> Fx( double dt );
-        Matrix<double,6,13> Hx( const Vector3d &pos, const Quaterniond &q);
-        Matrix<double,6,6> S ( const Matrix<double,13,13> &Pxx, 
-                const Matrix<double,13,3> &Pxy, const Matrix<double,3,3> &Pyy, 
-                const Vector3d &pos, const Quaterniond &q);
-#else
-        bool isInlier(const measurement_t &z, const Matrix<double,9,9> &Pxx,
-                const Matrix<double,9,3> &Pxy, const Matrix<double,3,3> &Pyy,
+        bool isInlier(const measurement_t &z, const Matrix<double,STATESIZE,STATESIZE> &Pxx,
+                const Matrix<double,STATESIZE,3> &Pxy, const Matrix<double,3,3> &Pyy,
                 const Vector3d &pos, const Quaterniond &q, double thr);
-        Matrix<double,3,9> Fx( double dt );
-        Matrix<double,6,9> Hx( const Vector3d &pos, const Quaterniond &q);
-        Matrix<double,6,6> S ( const Matrix<double,9,9> &Pxx, 
-                const Matrix<double,9,3> &Pxy, const Matrix<double,3,3> &Pyy, 
+        Matrix<double,3,STATESIZE> Fx( double dt );
+        Matrix<double,6,STATESIZE> Hx( const Vector3d &pos, const Quaterniond &q);
+        Matrix<double,6,6> S ( const Matrix<double,STATESIZE,STATESIZE> &Pxx, 
+                const Matrix<double,STATESIZE,3> &Pxy, const Matrix<double,3,3> &Pyy, 
                 const Vector3d &pos, const Quaterniond &q);
-#endif
         bool isRansacInlier(const measurement_t &z, const Vector3d &pos, const Quaterniond &q);
         bool inFOV();
         Vector3d findDepth( const Quaterniond &q, double z, const Vector3d &xs,
-- 
cgit v1.1