From f03177359d0d592c41b8c6412b65ecbed49a64e4 Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Tue, 4 Apr 2017 12:31:50 -0500
Subject: Update Feature class to use FULLSTATE.

The Jacobian of the measurement model, Hx and Hy were updated using code
generated with matlab's ccode() function. This generates a number of
intermediate values, which are an optimization by the function's
description, before setting the final values. In any case, it's not
necessarily more readable, but it does eliminate the incredbily long
lines used previously.
---
 src/feature.h | 1 +
 1 file changed, 1 insertion(+)

(limited to 'src/feature.h')

diff --git a/src/feature.h b/src/feature.h
index 6260d71..56e0835 100644
--- a/src/feature.h
+++ b/src/feature.h
@@ -17,6 +17,7 @@
 #define RANSAC_LI_THRESHOLD 4e-5            /*  */
 #define RANSAC_HI_THRESHOLD 5e-2            /*  */
 #define INITDEPTH
+#define FULLSTATE
 
 
 using Eigen::Dynamic;
-- 
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