From c391dab73ae27fd178c34aab9b49f3c0039a6c97 Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Tue, 11 Apr 2017 13:52:33 -0500
Subject: feature inlier thresholds

---
 src/feature.h | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

(limited to 'src/feature.h')

diff --git a/src/feature.h b/src/feature.h
index c0d3ac6..05c268c 100644
--- a/src/feature.h
+++ b/src/feature.h
@@ -7,16 +7,16 @@
 #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 FEATURE_NOISE  1           /* Feature process noise */
+#define VIEW_NOISE 1e-2             /*  */
+#define INITIAL_VIEW_NOISE 1e-2           /*  */
+#define REFLECTION_VIEW_NOISE 1e-1            /*  */
 #define FEATURECOVX .001            /*  */
 #define FEATURECOVY .001           /*  */
 #define FEATURECOVRHO 25e-4            /*  */
 #define FEATURECOVRHO_MONO 0.5            /*  */
 #define RHO_0 1./10.            /*  */
-#define RANSAC_LI_THRESHOLD 4e-5            /*  */
+#define RANSAC_LI_THRESHOLD 4e-6            /*  */
 #define RANSAC_HI_THRESHOLD 5e-2            /*  */
 #define INITDEPTH
 
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