From 4ad4e12cb2df5ac031eaf759517179a8e0cd87af Mon Sep 17 00:00:00 2001
From: Miller
Date: Tue, 4 Jul 2017 23:34:11 -0500
Subject: set ransac thresh and covbias

---
 src/state.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

(limited to 'src/state.cpp')

diff --git a/src/state.cpp b/src/state.cpp
index cbf0e15..8b1ff3f 100644
--- a/src/state.cpp
+++ b/src/state.cpp
@@ -21,7 +21,7 @@ State::State ( )
 {
     body = new Body;
     P = Matrix<double,Dynamic,Dynamic>::Zero(STATESIZE,STATESIZE);
-    P.block<3,3>(6,6) = COVBIAS*Matrix3d::Identity();
+    P.block<3,3>(6,6) = covbias*Matrix3d::Identity();
     return ;
 }		/* -----  end of method State::State  ----- */
 
@@ -988,7 +988,7 @@ State::ransacUpdate ( vector<measurement_t> &z, const Quaterniond &q )
         }
         if (!found) {
             Feature *ft = featureById(i->id);
-            if (ft->isInlier(*i, Pxx(), Pxy(i->id), Pyy(i->id), body->ned(), q, RANSAC_HI_THRESHOLD)) {
+            if (ft->isInlier(*i, Pxx(), Pxy(i->id), Pyy(i->id), body->ned(), q, ransac_hi_threshold)) {
                 hi_inliers.push_back(*i);
             } else {
                 removeFeature(i->id, true);
-- 
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